After a day of moderate to challenging wheeling at 9k foot level I aired up and started to descend the mountain road (pavement). A couple miles down the road The ESC Warning light started blinking and the jeep lurched hard to the right with weird kind of oscillating feel in the brake pedal and a kind of clunking noise the brakes. Quite frankly it scared the crap out of me. I pulled off and crawled under to see if could find any obstructions in the rotors or pads or anything obviously damaged from the day's events. I did come down pretty hard on some of the obstacles but the only thing I saw was some new scratches in my skids. I tried going back through engaging and disengaging the lockers, sway bar, and in and out of 4 wheel drive. Cycled the ESC button on and off a couple times and proceeded back down the hill. Same thing... every so often the Jeep would lurch and pull to the right accompanied by the same unnerving symptoms. I pulled over and this time could smell the brakes. I did the heat test on each wheel (touched my fingers to the wheel and lug nuts). All were fine except the front passenger wheel. It was very warm. Actually hot. Again I looked for obstructions, kinked lines, etc. and found nothing. I waited for it to cool down a bit and started back down the hill after contemplating how long it would take to get a tow truck to the remote area on the mountain (been there and done that and didn't want to go there). I babied the rig down the mountain at a snail pace and started up the highway a bit. As mysteriously as it had started.. the problem went away. I drove another 10 or 12 miles, dropped off Dad and headed for home. After about 5-6 miles the light came back on and stayed on but none of the scary symptoms returned. I drove the rest of the way home with no problems. On thing I did notice is that the steering wheel was a bit off-center. This was even before the trip but was more pronounced after (maybe another inch to the right). Today I adjusted it up and drove it for about 12 miles and the light is still on but still none of the scary symptoms. I plan to send it to the dealer on Monday.