I'll put my money on a bent tie rod. The tie rod should have two small curves on the ends, but usually when they get bent you will find it is arcing up in the middle where the steering stabilizer goes on. When I did mine, I pulled up next to a new one at the dealer and compared how the two tie rods looked. After taking it off to install the rock krawler tie rod, the difference was even more obvious. I'll run out to my Jeep and grab the camera with pictures of the difference...

If that is it, you can adjust your toe-in to move it out a little and then recenter the wheel. Then eventually you will want to upgrade your tie rod.

 

Did you grab your drag link and try turning it without loosening the bolts? Kinda sounds like it was loose and while you were out wheeling it spun out...if that's all it is than your good, just re-center it and make sure those sleave bolts are tight...your ESP will DEFINATELY turn on if your stearing wheel isn't centered, and I'm SURE it will go away once you've centered it...just a thought on the drag link though

 

so ill just recenter and hope for the best. nothing looks damaged so i think its safe to drive the jeep for sometime....