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Likely the steering wheel is off center, or you recently did some driving that set if off such as driving in a heavy cross wind that required you to steer to one side. A lift kit can make it more prone to this condition if the steering is all stock.
Park the Jeep with engine off, restart engine and turn the steering full left, then full right, then center. Turn engine off and restart, and go drive some. If just the steering center it should go off. If it keeps coming back on it could be some other issue.
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