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2010 Jeep Liberty ESP/BAS lights

the ESP/BAS lights goes on, after travel some miles and continue on until I finish the trip. Ones I stated again is off for a short period of time and gets on after 5 or maybe more miles. It doesn´t go off until I turn off the vehicle and star again…

Ok, so what is your question? And how many miles are on this, and how long has this been going on, and have you taken it anywhere to have the ESP error codes read? Can you post them?