A Rivian R1S is about 201 inches long, more in size line with the 206 inch Chevy Traverse, not the 210" Tahoe/Yukon. The Traverse gas mileage is 17city/25highway/20 combined. A fully loaded awd High Country Traverse is around $52K. The price gap from a Traverse to the Rivian is still pretty steep. I realize the Rivian is a rocket, an excellent interior and better than the Traverse off road - overall a much nicer vehicle. Realistically, the Tahoe/Yukon is in a different size class vs the Rivian.
The Tahoe/Yukon is also offered with a straight 6 3.0L diesel that nobody mentioned. The diesel fuel mileage is 20city/26highway/22combined. The diesel is available on the all the trim levels except the top of the line High Country. The base LS w/4wd and diesel starts at $60.1K before you start to tart it up. If you ran the Tahoe/Yukon 12k miles in a diesel at the combined 22mpg and use 3.50/gal (I am paying 3.29-3.49 for diesel here in NNJ) you are at a yearly cost of around $1900 for fuel.
I have not seen a diesel version in the wild. There are still many of these GMs from the 2000-2015 years still being used in my neighborhood along with a handful of the newer versions.