Check your ABS/ Wheel speed sensors. They may be going bad. I buried my Jeep to the frame in some mud a few weeks ago and both passenger wheels were completely packed with mud. Now my ESP kicks on after the Jeep sits for a bit and I get in to go some where. I've pulled both sensors to clean them but I'm going to just replace them. My ESP goes off by the time I leave the neighborhood. It's just a pain until I get that far.