i had esp light without wheel spacers. check you dct codes and see if your axle is to one side you might need track bar adjusting. That was my problem. you can check your codes by turing the key on and off three times, but on the third leave it on. You should here a ding and check where your trip is and it will tell you if there is any codes. or it will just say done. you can find all the codes on here.

 

i think it is the lift, not spacers. is the alignment in spec?

 

What year jeep is it? Didnt they have a flash for the 07 to turn down the senisitivity of the esp system? Could be wrong but thought i saw it somewhere.