My new Silverado was stuck in 4WD. The dealer found a Chevrolet "Field Action" for the vehicle that indicated the transfer case shift control module required reprogramming. The "Service 4WD" message appeared on the driver info screen.
Some of the vibration issues being reported could be that the truck is stuck in 4WD - that causes steering wheel vibration at highway speeds. In my case, the control knob was in 2W HI and there was NO indicator light on the knob. The service 4WD did not come on initially.