From what i've learned in my JK research. Is that you'll need to re-centre your steering wheel. Even if its off by a bit, you will get the ESP kick in, once you re-centre it, it will still kick in for a bit, while the computer re-learns your driving, and then you shouldn't get the ESP come on anymore.
On the JK, once you go over 3" of lift, you should get a drop pitman arm, most lift don't come with one, so I recommend getting one. Skyjacker sells the only drop pitman arm for the JK's that i've seen.
If you have a 2 dr, you'll need a new rear driveshalt, if you have 4 dr's, you'll be fine for a while. You'll need control arms to get the angle back for the new driveshafts.
And the final thing, is that you probably need an adjustable track bar. Since your jeep is now 4 inchs higher, your axle is probably shifted .5" or 1" toward the passenger side, and this could cause some trouble with the ESP.
LAHAL
08 JK Rubi 2 dr