Q: what componenet would I need to get fixed if my emergency brake is not working? on 2002 GMC Yukon

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I was told during an oil chang awhile back that it needed to be fixed, so I am assuming it does not need an adjustment. Other brakes seem to be fine.
(1) Answer
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If I'm correct your system uses a rotor/drum combination. You have regular pads for stopping but inside that rotor there are re-designed brake shoes only used for Parking brakes (aka E-brake). The only way to tell if they need replacement or adjustment is to remove the rotor and visually inspect them. Just incase they need to be replaced I would buy the set in advance. If all they need is adjustment you can return the Brake shoes.