The dealer service manager looked at the Jeep today. They are blaming the ESP/BAS and ABS lights on the missing electronic sway bar. It was removed to install a Currie Anti-Rock which has been on the Jeep for 2 years with no ESP/BAS lights. They say the ESP module is looking for the sway bar system. It's frustrating because I seem to be the only one with this problem and my warranty is just about up. Wheel speed sensors are all good. Any suggestions?

 

could also be a busted clock spring. Have you made sure 100% that the wheel is straight?