My esp light on my dash will not go out even after I cleared my codes

You can clear codes until the cows come home, but if you don't fix the underlying problem, the light will come back on. Get the codes read. That's your starting point

Try first unplugging battery cable for ten minutuse, to reset ECM, and do a scan again, there are too many unrelated error codes at the same time

Yep, have the codes cleared first. I try not to disconnect power for any repair. Even battery replacements. I supply power to the system.

You would need a scan tool connected to the vehicle to clear the warning but there is no point unless the issue causing the fault light has been rectified. Without the fault being identified correctly and fixed the warning will come back on next time you drive the car.

Think I found the solution or a thread discussing your Fault Code at Jeep Forum (Jeep patriot abs,4wd,esp,Trac control lights on after replacing rear wheel bearing) Jeep patriot abs 4wd esp Trac control lights on after replacing rear wheel...

Because you have a fault code & dash light on

The ABS System may have a problem

Google what ESP is about

No --you can not get it off your dash

You can & it will come back, until you
make the repairs

Read your owners manual?

Check for Codes? (the same day you got any dash lights on)

Googled --- ESP-- issue for your vehicle?

Have someone scan the body computer for trouble codes.
Once the problem is fixed and the codes are erased, the lights should stay off.

Whenever that ESP/ESC warning light comes on, there is a diagnostic code set (DTC). This code tells the technician which component in the system CAUSED the ESP/ESC control module to turn ON the warning light!

Did the technicians SCAN for any DTC's? Since the vehicle is a 2009, the service department is supposed to have Hyundai's GDS (Global Diagnostic System) available to do this. If they don't have this equipment, find a service department that DOES!