Ok here's a weird one for you. 2007 Jeep Compass, 96k miles, pre-road trip check complete, and using OBD-II Reader to get mpg and looking for general issues. On the road from Idaho to Washington and using cruise control, out of nowhere the cruise turns off, the car starts lurching really bad, a light begins to flash on the dash, and so I pull over and shut off the car. I check the fuses and they're all great, put the car in aux and it turns out that it's the light for 4WD ECU. I can't get it to happen again and my OBD-II reader hasn't found any alerts, but it's always there when the car is in aux. Any thoughts? I appreciate your help!