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My ESP is pulling my Pacifica to the left and right upon acceleration or decele?

(2007 Chrysler Pacifica)
in Avondale, AZ on June 14, 2013
The ESP light has come on and I have not hit the button, and removed the switch . It is causing my vehicle to pull to the left and right depending on wether I accell or decell. It is causing me to almost cross over traffic.
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Popular Answer
of Greg's Orange Auto on June 14, 2013
scan codes and post so we can adv
on June 14, 2013
I will have to do it tomorrow before I have to goto work.
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