You can turn ESP off, button on the dash. The description earlier in this thread was for traction control, ESP is different.
http://www.jeep.com/en/4x4/ has a decent description of the Jeep 4WD systems. The liberty has the command trac or the optional selec trac.
The Command-Trac transfer...
Do you have aftermarket lockers installed in your KK? Unlike other Jeep models, KKs are not available with lockers from the factory.
Otherwise, there is no reason to limit use lockers regardless of transfer case position.
You probably need to call lockpick or boyo. I assume the camera setup is designed correctly, but the noise you see/hear is typically a ground loop or improper/loose/dirty connection (or incompatible components). Could also be a grounding situation in the engine compartment making the car noisier...
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