Ok, disregard last post. Once I drove the Jeep 5 feet, the lights went out and all is well again. So, the abs light and traction control lights came on as the vehicle started jerking. I replaced the tires. I don't really think the tires had anything to do with it because it the difference in tread wear would have caused the traction control and abs to mess up from replacing the 2 bald tires, why wouldn't it have messed up while the two bald tires were on there with the two good tires before they were changed? I do have four new tires though, so no harm I guess. Of course my two good tires will probably be resold for a profit since there was a lot of tread left... Anyway, the problem was the front right abs wheel speed sensor. I'll cross my fingers and hope that's the last of it.