Found your thread through a search and wanted to share my issues with the ESC and 4WD.
I was driving home from vacation when the ESPOFF warnings started going off. It was intermittent and the warnings went on and off for the last 3 hours of the trip (all highway). I called the dealer to make an appointment earlier in the week and is scheduled for tomorrow. After doing that, I decided to crawl under and check the transfer case shift motor connection - all looked good. I also checked the wiring in the console to make sure the selector knob was making a good connection - all good. Started the Jeep and voila, no ESPOFF warnings and no other lights on the dash. I started to drive and went into 4HI to test it out - all good. Also went into 4LO for a test and ran into problems. It drove and shifted fine, but I could not get the transfer case to shift back into 4HI or 2HI for 30+ minutes. I tried it with the Jeep rolling in N, stopped in N, and foot on brake in N. When I would attempt to shift back into 4HI, it sounded like it was trying, but just wouldn't go. Finally I got it back in 4HI then into 2HI and parked it. Throughout the process, I have never seen the service 4WD light or the check engine light come on.
Does anyone have any clue what this could be? My only guess is that a sensor or the transfer case shift motor (or its connections) have gone bad. Also, where is the final drive control located on the Jeep?
It has 45k on it, so there is going to be a diagnose fee and the only parts covered under the powertrain warranty are "internally lubricated parts." Sounds like I will be responsible for anything electronic.