ESC light comes on and won't clear, only happens when cruise control is used.

What is your question?

After driving about 10 minutes at highway speed with the cruise control on, the vehicle jumps out of cruise, ESC light comes on and then unit will not reset, cruise will not turn off. When I turned the vehicle off, the truck seems to reset until the next time. Seems to be very frequent lately. Last night, I purposely drove with the ESC turned off and the same issues surfaced. I haven't had these problems when not using cruise control. Dodge dealer cannot seem to isolate issue. Anybody else have these issues? Issues with the Cruise module (??? - correct name) Thanks!

What makes this problem better or worse?

When unit is using Cruise control

How long has your 2011 Dodge Durango had this problem?

Intermittent for about 4 weeks. now everytime cruise is used.