+1 on re-torque and adjustable lower control arms.
Mine was twitchy on 35" tires and the ESP light came on frequently. OME lift doesn't come with LCA's either.

Installed new Terraflex lower control arms and JKS track bars from Northride, got it back to safe and normal feeling on the road.

 

Your axles have I be centered and our steering as well.

Mine tripped the anti roll ESP thing that feels like ABS.

What happens is the higher center of gravity makes the computer think its rolling due to additional forces. So it applies breaks to counter act this.

Torque to spec. Dial everything in meaning your track bars.

I had a 3" zone with no issues. Went I 4" and then needed adj track bars. After centering no more light.

 

AFTER a proper alignment, Get under there and try adjusting your draglink. Adjust, road test, adjust, road test, etc. I had to do that with my 4" RC kit, until i got it right. Pipe wrench will do for that.

 

I had to center my steering wheel. Once done I don't throw any lights and it drives firm, quite close to stock...

 

so what your saying is that the jeep has a gyro in the cpu somewhere that tells it that its rolling?
its got everything to do with the steering wheel location and the 4 wheel speed sensors
working together to determine if your sliding, when the computer sees the steering wheel turned past straight and the 4 wheel speed sensors moving at the same speed it thinks your
sliding and does what it was designed to to and apply the brakes.
it cant tell if the axles are centered under the vehicle. nor would it have any significant bearing on the handing of the vehicle.

 

Still working on my handling problem! But since then I have added new Bumpers 10k winch & new steps and some Led spot lights! It's a start for my first jeep! What brand of fender flares should I install ? I don't like the stock rear flares with my new rear bumper it looks like it missing something from a side view of the jeep! Here is some photo's