This happened to me this weekend but also had a Brake System Failure message and the brakes barely worked. Thankfully I was sitting in a Starbuck's drive thru before heading on a 3 hour road trip so I was able to park the truck and call OnStar for a tow.
I was pushing very hard on the pedal to get the truck to stop rolling. I restarted the truck a few times and the error messages remained.
I had four messages:
Service ESC
Service Trailer Brake
Brake System Failure - 62 MPH Top Speed
Steering Assist Reduced Drive with care
Lights on dash that were illuminated
ABS
Check Engine
BRAKE
Traction Control
Truck is a 2019 Sierra Denali Ultimate