Originally Posted by JIMBOX
Steering wheel hasn't been properly centered and ESP/BAS sys is pissed !!
The ESP runs off speed, steering wheel location, throttle, etc so the Jeep thinks you're going too fast for the corner and that she's going over
it's usually an easy drag link adjustment but you'll need 2 people to center the steering wheel.
The rumble noise that you're hearing is the rear brakes activating to slow you down.