2011 Jeep Wrangler Unlimited Hesitation/pulling with Traction Control light on

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When driving at slow speeds, so far under 20mph. My 2011 Jeep Wrangler Unlimited Sport starts to Hesitate/Jerk/pulling feel with the Traction Control light flickering off and on. You kind of hear a slight grinding noise as well. As if I were in 4wd and making a sharp turn. It happens in short pulses approx every 5 seconds. This happens when: -I am not in 4wd - Driving straight - Turning - At slow speeds - So far on smooth/dry road Also the dome light flickers slightly