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My friend has a 2003 Rubicon and the D1/D2 ESP light is flashing constantly and it will not shift out of gear....also there is a bad popping noise at times....anyone know what may be going on? Any help is greatly appreciated!
 

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Let it dry out and check all your electrical connections my '07 was doing the same, I pulled the angle sensor connection and water poured out I then packed it with dielectric grease put it back together and no more codes!
 
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