MY 2001 H.D.

Our daily drivers are a 2001 GMC HD 6.0 and a 2001 Yukon 5.3. The HD has a hypertech power programer installed. Will a tune from Allen make a big differance in power or gas mileage? How about driveability? Neither one get good mileage now. The truck is lifted with 36" tires and gets about 10 mpg. The Yukon is stock except for the 22" wheels and only gets about 12mpg.