I went wheeling today and found my way up a dried up rocky creek, I took my time and didn't hit anything , I was climbing rocks but nothing major happend, When I got back on the road to go home my esp light was on continueosly and my steering wheel was out of whack I went under the Jeep and nothing was wrong or bent so I just adjusted the drag link and centered the steering wheel and the light went out but what i don't understand is how it could have moved at all.
Any ideas on what happend?

 

Check any of the many threads on this issue. Could be a bent component, even if you can't visually see a bend. Or the splines on the shaft got twisted. Or...
But read through these and do a search for any of the others...

https://www.jk-forum.com/forums/show...steering+wheel

https://www.jk-forum.com/forums/show...steering+wheel