A 2002 yukon automatic transmission requires dexron III. GM now offers Dexron VI Transmission Fluid which is supposed to be better and also backwards compatible with older dexron fluids.
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SAE 75/90 (synthetic is better but not required)
automatic transmission fluid,preforably a synthetic or synthetic blended fluid.
Dexron-III Automatic Transmission Fluid
AMSOIL Synthetic Universal Transmission Fluid.
Valvoline Synthetic Transmission Fluid
Syn-torq synthetic transmission fluid or equivalent.
Valvoline MaxLife Synthetic Transmission Fluid
Your vehicle should take dexron3. If you want to spend alittle extra get a full synthetic transmission fluid ( note: if you use full synthetic your transmission will need to be flushed in order to benefit from the synthetic fluid )
there are 8 quarts of dextron 3 fluid
The Recommended Fluid is Automatic Transmission Fluid, Dexron® III/F/G. If you want a longer lasting fluid then I suggest. Amsoil Synthetic Automatic Transmission Fluid Amsoil Torque-Drive™ Synthetic Automatic Transmission Fluid (ATD) Hope This Helps.