I have been to my local Jeep dealership about 6 times with this same issue with no help from them. My 2020 Jeep Cherokee High altitude makes a single clicking sound when coming to a stop. If I turn the ESC off the click goes away. I have tried re torquing the drivetrain bolts with no luck. Anyone have any idea what the correlation and turning the ESC system off would have anything to do with the sound I’m hearing?

 

Not that I'm an expert but it sounds like one wheel is "dragging" or "not engaging in line" when the other three wheels are braking? If you turn off the ESC it is in effect allowing the wheels to "just spin" freely (not at the same speed) when slowing down. This may take some time to work out how to diagnose the issue. I would start with the sensors at each wheel and go from there. Good Luck.