2005 Jeep Grand Cherokee Limited all wheel drive with159, 960 miles. The ESP light and Service Electrical Brake System keep coming on. The indicator lights only come on while the vehicle is driving. Then when I turn the vehicle off then back on it makes a rubbing type sound while turning the vehicle, after I straighten the wheel back out the light goes off. 
Check the bearing adjustment and brake pads for worn out check condition or brake rotors. Have the fault codes read and replace faulty items.
SOURCE: Service 4 wheel drive
The service 4 wheel drive light comes on because there's a problem. The biggest causes of this I've seen are a software glitch in the final drive control module which the dealer can fix by reprogramming and the other is usually the electric actuator on the front axle housing. The only light that comes on by a timer is the one that says, "perform service" in your overhead console or odometer.
SOURCE: 2005 Jeep Grand Cherokee (HEMI) Service Electric Brake System
Problem is a faulty Steering Angle Sensor (part of Steering Module) located in steering column ...replacement part $600.00.
SOURCE: service 4 wheel drive system light on and cannot
There is a software updated for this concern if there are no driveabilty problem the dealer needs to undate the 4wd software.
SOURCE: When I put my 2005 jeep grand cherokee in reverse
I have the same vehicle, with the same issue. I had put the car on a rack and lifted it to pin point the cause of the clunk when shifting from park to reverse or reverse to drive. I found that the front diff mounts were grenaded, meaning they needed to be replace bad. with these mounts being bad it was causing the front diff housing to slam the frame up and down when shifting from park or reverse to drive. this is pretty expensive to fix, your talking $160 in parts and $540 in labor. I also had the service 4WD warning display on my dash cluster, i had the code read. It came up as a bad solenoid in the rear diff. this is about $200 parts and labor to fix. Also, dont know how many miles are on your jeep but if you've ever sub-merged your axles under water or if your over 60,000 miles you need to replace your gear oil in the front diff, rear diff and transfer case. This is a little costly to have a mechanic do as well because you're supposed to use synthetic gear oil. For a shop to do it you're looking at $360.
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