I did a search last night for this and didn’t find a solution. For reference, in case this happens to someone else, my ESC light came on after a hard day of wheeling. I also knocked my steering wheel off center on a big rock. My cruise control wouldn’t come on either. When I got home I centered my steering wheel and after a couple drives the ESC light went away and my cruise worked. Apparently, when the ESC is on it blocks the cruise. There are lots of threads on centering your steering wheel, it’s an easy 5 minute job.