I would start by reading the Owners Manual (OM). If your Jeep did NOT come with one, you can download it for free off the Jeep Website. You have to pay them to send you a paper copy. It has a lot more info in it than the Quick Start guide they put in the glove compartments now.
A good thread on ESP (condensed whats in the Owner's Manual)
The Jeep Website explains the different 4WD systems, but they dumb it down so much and instead use gee-whiz trademarked marketing terms, if you're at all technically inclined it just confuses you.
Do a search, there are several threads on this forum discussing the differences and Capability of the 4WD systems in depth.
QT1/QT2/QD2 are all basically the same, with some different equipment that can make a huge difference in capability.
All 3 systems use the EBCS, which ESP is part of that, but a lot of people just refere to it as ESP. Basically computers control the brakes to keep traction at all 4 wheels, and it does a good job at it too, so when you read about open differentials, don't get the impression that the system is less capable, it is very capable because of what the EBCS adds to it to control traction at each wheel.
QT1 usually w/ the V6; has a simple xfr case that can NOT be put into 4LOW or Neutral.
QT2 usually w/ the V8; is the same as QT1, but with a xfr case that can be put into 4LOW and Neutral. Putting it into 4LOW also locks the center differential in the xfr case.
QD2 usually w/ the HEMI; is the same as QT2, but with Electronic LSD's (ELSD) in the front/rear axles. The ELSD are computer controlled and increase/decrease slip limiting as necessary and can LOCK the front/rear differentials if needed.
Don't let people tell you the V6/QT1 is NOT for off-road. Its the same system as QT2 except you can't go into 4LOW. A V6/QT1 can follow a V8/QT2 anwhere off road and do the same things up to the point where the more capable jeep has to use every bit of its V8 power or has to put it into 4LOW to get over an obstacle, which is a minority of the time.
So, yes the QT2/QD2 are much more capable and more desirable for Recreational Off-Roading. BUT QT1 is no slouch, I would NOT even hesitate taking a QT1 Commander camping, driving over mild, even moderate, trails or light duty off-road stuff.