My ABS and ESC lights come on for along period of time before going off. Is that a problem I should be concerned abouf

Well, it depends on how long is that "period of time"!
All cars produced for use in the United States will have those lights, and others, on for up to about 5 seconds after the engine has started.
(That is time for the computer to test all the systems for proper functioning).
If yours stay on longer, I should ask some other Chrysler owners how long their lights stay on.
Fixing it could be expensive, you may wish to get a few good estimates first.
God bless your efforts.