You aren't getting ABS codes because the ABS is functioning correctly. As noted above, measure your axle centering and center your steering wheel. The system depends upon the steering wheel being dead centered. The sensor is in the clock spring inside the steering column housing.

 

Maybe it's not the same on the earlier models, but on my '13 if that ABS light comes on at all, a code is stored. Even if the light goes back off on it's own, there is a code sitting down in the ABS module signalling what it was that caused the light to come on. I suspect the OP did not use a scanner that can read the various module codes, but waiting for a response.

 

the abs light doesnt come on just the esp light flashes and the jeep thinks its slipping but its not. it doesnt do it all the time but when it does its when your taking a sharp turn. when that happens it gets a little scary

I used jscan to scan it

 

the steering wheel is centered i still need to check the axle is centered but it looks like it is

 

Thanks for the clarification. I personally have never had an issue with axles being uncentered, and I intentionally cheat my rear axle to the driver's side just a big due to drive shaft yoke clearance with my gas skid when wheelin, BUT, it sure doesn't hurt to be as accurate as you can be as SoK66 suggests. It's starting to sound a bit more like a clockspring issue as this is looking like it's not ABS sensor related. I replaced a clockspring this last year and just used the Crown part which i think was ~$120. It worked flawlessly. I'm not one to just throw parts at something, but in this case I don't think there are many things that could be causing the issue. I'd probably be willing to replace that part if it was me. Hardest part of the job is getting the steering wheel off the splines. Other than that it's about a 20-minute task.

 

Your symptoms still indicate what I've suggested. How have you checked your steering wheel centering?

If the axles are centered and the steering wheel is within it's (very narrow) range of tolerance then I'd concur you may have a clock spring issue. What makes me cautious about that being the issue, in general a failed or failing clock spring shows an airbag fail warning, not ESP/ESC.