If the ESP isn't coming on, I'd venture to say that it may possibly be your new tires rubbing?

Look on the inside of your tires for rub marks. If you find them, add wheel spacers

 

I hear ya. But I am wondering why the rubbing would only be intermittent. That plus the fact that I am only running 305r65 tires.

 

I have a 4 incher and i get the occasional vibration when turning either left or right. Sometimes its left sometimes right, but it feels just like when the esp light comes on that is due to the lift. In my case it is the esp f'n up. I'm not really sure why it sometimes lights up and sometimes doesn't but it all feels the same. See if when this vibration happens if you can feel it in the brake pedal. If you can feel it in the pedal it is most likely the esp screwing around. Like you said you can live with it; that's what I've learned to do, but if you just can't stand it you can try to fool around with the alinement some more. It may help, but chances are that it will never be perfect. It's a Jeep after all! Got to love them!

 

Yup, I sure do feel it in the brake pedal. I guess it's not terrible if at least you know what it is.

Thanks