Is this a tire issue or a brake issue or something much worse?

What is your question?

Four indicator lights coming on. ESP, BAS, System malfunction symbol and traction control symbol. Usually right when I depress brakes and they feel like they are skipping. This just started after a long road trip. Could this be as simple as a bald tire issue or is there something seriously wrong? Don't trust repair shops.

What makes this problem better or worse?

Seems fine on the straight away, but as soon as I hit a curve and brake at the same time the lights come on

How long has your 2006 Jeep Commander had this problem?

It just started