Oil pump pick up O-ring is probably hard and sucking air when cold. Requires pulling the pan to replace. This is most likely, just did one a couple months ago on an '07.
The other possible problem is a porous head casting that allows small amounts of coolant into the oil after shutdown. That coolant mixes with oil and conceals as sludge in the bottom of the pan. It then shrouds the oil pickup. A quick check is if the top of the oil filter has a film of brown gunk, it has a porous head. Typically only '03-05 engines, but always possible.
You didn't mention if this is a pickup or Envoy. 2006 Trucks are Gen 3 engines, so no AFM or oil sender screen. 2006 Envoy is Gen 4 with AFM and would have a sender screen.
Worst case scenario is it has a spun cam bearing. Not common, but I've seen it happen.
Never seen an oil pump fail on these. In fact, when I put a performance cam in my 200K mile 5.3, I inspected and reused the pump. I replaced the cam bearings when I did the cam, mine runs over 40 psi on the highway hot.
These are the things I see cause this issue on the 5.3.
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