Adam....
You might want to get a second opinion from another alignment shop before taking the dealer's word for it that both idler and pitman arm are bad!
The first step in any quality alignment is to check for worn/damaged steering components. A good shop will not align the front end if bad parts are present. You should be able to get a front alignment for less than 50 bucks.
BTW, checked GMPartsDirect.com p/n 12471383 shows GM List of $161.81 their price $91.81 and p/n 12479051 GM List $111.07 their price $63.31.
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