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Pull the codes with a GM ABS (EBCM)-aware scan tool such as a Tech 2. Low-end generic readers won't be able to see the EBCM.
The service message is basically a voicemail reminder, with the codes being the voicemail. So to speak. Jiggling cables and unplugging the battery is like erasing the voicemail without listening to it first.
First thing you should check is to see if all of your spark wires are properly plugged into the coils and onto spark plugs. I had this issue shortly after buying my car in 2013 and someone on these forums told me to check that and sure enough I had a plug wire that was missing the spring clip on the coil end and it wasn’t fully plugged into the coil.
If that isn’t the problem, check for other things being disconnected before you start throwing parts at it.
weak or dead Tire pressure sensors will do it as well. check your tire pressure at the dash. if one is dead it will have "XX" instead of the pressure. Also if its just a weak sensor it may still read pressure but it wont show an increase in pressure as you drive and the tires get hot.
2009, if you havent changed them its time to. I hope its that simple for you.
The other replies will certainly cause the same codes.