electronic stability control

Hi I am new to the group, and not long ago I acquired a 2021 Gladiator 3.6L The thing is that a few days ago, I probably hit a curve, and the ESC control light went on; not only that but my steering wheel is upside down (but the tires are straight) and the turns are off, it doesn’t make the...

I'm having issues with the Electronic Stability Control. Here's the backstory. This will be for the more experienced suspension/steering gurus here. 2021 Gladiator Rubicon 4.5" Lift 2.5 ton steering w/trackbar riser bracket and high steer knuckle configuration Axles are perfectly centered...