r51 esp off light coming on?

[jk2k3]

A few days ago the esp off light and slippery road looking symbol came on.... when I turn the ignition on and off it goes out and may not come on again.for a few hours.....

I have had brakes checked and they are fine and the car only passed its not 3 weeks ago... anyone have any ideas or had this light pop up.. it has happened about 10th times now.

Thanks