Is your jeep stock? Sounds like after the brake (lockup?) that the Brake Control System - linked to the ABS (not the ESP but a part of it) might have been partially locked or alternating from side to side...just a guess on my part. I tried to lock up my brakes several months ago and they ABS kicked in correctly, but after releasing brakes did not have any problems - I would have the dealer check it out by repeating your panic stop at speed.
08 JK 23S - Colorado Jeep Club No. 204
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