On a 06 z71 the two most common problems with the airbag system are....

1. the harness under the passengers seat rubbing on the seat track or getting run over by the seat track. Look for cut wires or insulation worn through.
2. Under drivers side kick panel there is a yellow connector that can have poor connection, wiggle it or unplug and plug back in. Once the problem is fixed the warning will go out. Code does not need to he cleared.