AJ's correct, I would say clutch master and slave cylinder. Replace them together. Not a hard job for the home mech.
Parts are reasonable at bavauto.com.
You can try bleeding the slave cylinder, but it may not help.
When a clutch is worn out, it will engage at the very end of pedal travel, late not early. It will also be harder to get a smooth release, like a light switch turning on instead of turning on a light dimmer switch smoothly.
02 GMC Yukon SLT 5.3
02 Ninja ZX9R