Your 2006 T-2363 has a GVWR of 5,500 lbs, therefore, I would say you would be good with any tow vehicle that had a tow rating of 6,000 lbs or better.
The tow rating on your 1999 Yukon is dependent on the engine size and gears. If you have the larger V8 engine in it, you shouldn't have any problems.
Just make sure you get a good WD hitch with anti-sway control and you should be ok.
We used to have a T-2670 that had a GVWR of 7,000 lbs. Towed it with a Ford E-150 conversion van with 5.4L engine with no problems. We took a trip out west and to the Canadian Rockies with no problem towing.
Hope this helps.
Mary & Tom (aka Hutch)
2015 Jayco Eagle Premier 361REQS
2014 GMC Sierra 3500HD 4x4 CC D/A
Sunlines: 2005 Solaris T-280SR; 1999 Solaris T-2670; 1998 Saturn T-24A