I looked up recalls due to our 2007 Jeep's ABS and ESP lights coming on while braking. The ABS is engaging because you can hear the grinding in the brakes. I found recalls on the 2007 Jeep Commander with this problem. I called a Chrysler Service department. He looked up our VIN number and found no recalls for ours. Does anyone have any ideas what this could be? Or what I should do? The brakes work just fine 80% of the time, it comes in cycles with the light coming on and the brakes grinding. Happens on dry roads.