Welcome aboard. Does your jeep have a sunroof? If yes, your problem is most likely with the front drains. They clog up very easily and the sunroof tray overflows, resulting in water dripping out of the screw holes on the apillar. So, if you have a sunroof, you basically need to pull up the carpet on the drivers and passenger side (front, closer to the doors) and find the blue flex-hose. Pull it out of the floor and either clear or cut off the rubber nipple on the end. Put it back in and you should be good to go. There is a video somewhere on youtube of the entire procedure. Some people have been successful with just blowing compressed air through the drain holes - there is one on each side of the sunroof.
If you dont have a sunroof, the problem may be with the door moulding. Do a search on here and you'll find a couple threads about members dealing with the issue. Either way, should not be hard to fix.
Your second problem is most likely not going to repeat itself. Had the same lights come on about a year ago during a tight maneuver. All lights were gone the following day. I took the truck to the dealer anyway. They cleared the computer and said it had something to do with the wheel speed sensor. Nothing to worry about. Havent had any issues since.
2010 Jeep Commander Sport Hemi