I would start by checking to see if the battery is good. Then checking to make sure the post and cables are clean and of course that the cables are tight to the post. Also check the primary ground from the battery to Jeep.
I don't believe that the ESC is supposed to stay on. Is it on all the time? If it is, then you should get that checked out. The other lights are both related to the brake system, so maybe there is a circuit problem that should be chased down. I have a manual so thing are a little different.
If the ESC light stays on all the time, then you need to figure that out. It may be a wheel speed sensor that is causing it.
Mine did the same thing yours did, but it stayed on (right at the beginning of a three hour drive), so after a few miles I pulled off the highway, shut down, and reset my codes with JScan. The lights stayed off for the rest of the trip there and the return one.
At 208K I live with an engine light on, so the 100 miles it stayed off for me that day was kinda nice.