I have had two cars with ESP the first one was a third party company the head was bad the dealership could not fix it so they put in a used engine did not work right was all gummed up had to swap out parts andit never worked right. Traded it in on a jeep jk like the jeep but has a lot of electrical problems they can not fix it so now its going through lemon law.The jeep has the chrysler maximum care lifetime extended warranty and its not worth anything it was $3080