RepairPal Certified shops can diagnose and repair your 2002 Cadillac Escalade. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.
i changed mine with part from amazon. ACDelco 15-72505 GM Original Equipment Heating and Air Conditioning Panel Mode Door Actuator.
link to replace:
https://www.youtube.com/watch?v=LbdMKaHQTG0&t=11s