I saw this on Jeepform.com where Jeep engineers answered some questions for people. It sounds like if you lift or modify a jeep with the ESP that the ESP will not work correctly afterwards, and it doesn't sound like you can do anything about it:
Would lifting a JK have any negative effects to the ESP/ERM systems?

Yes - ESP/ERM is tuned specifically for the stock vehicle. There are different ESP/ERM tunings on the Rubicon verses the non-Rubicon versions.

Modifications to a vehicle (ie lifting, suspension changes...) causes the vehicle behavior to change and the ESP system cannot anticipate the changes a customer may make. The ESP system will not behave the same way it was designed and validated. Before you ask - there are too many different combinations available for the engineering groups to validate - as all vehicles must pass rigorous testing before it becomes a Jeep.
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JeepEngineers "INTRODUCING THE GREATEST JEEP® LINEUP EVER"

thats why im working on finding where this is to disable the ESP when i want to.

http://www.lxforums.com/board/showthread.php?p=591822

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daily driver:06 midnight blue jeep liberty CRD sport.
mods: CRD frakenlift, 245/75R16 grabbers on Soft 8's,All J interior rack,front hitch,custom intake,ORM, EHM GDE hot tune
141k miles

Probably has to do with raising the center of gravity. The Jeep may get to leaning more frequently and drive ESP nuts trying to compensate.

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2006 Sport CRD

Could the Aztecs have known, that in 2012 after a 4 year experiment, our country would cease to exist?

yeah - Cg, weight distribution and inertia all change when we start modding the latter model Jeep's.

You can still mod the liberty but the system will not proform as effectivly.

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02 Liberty Limited
Silver Outside & Taupe Inside
Heated Seats, Sunroof & Infinity speakers
USA Spec I-Pod adaptor, Mopar Sub, Garmin GPS
Tow Package, Select-Trac
Rock Rails, Tow Hooks