Driving on dry asphalt on local rural street at about 45 MPH and suddenly the truck was jerking and hesitating, the ABS light went on and off, the ESC light came on, the brakes seemed to be going on and off by themselves, so I touched the brake pedal and it was hard to push and all the way up to the top. I stomped on the brake pedal several times and it seemed to settle down enough so I could drive the next 2 miles to my destination. The warning lights went off and I was able to continue without smelling any burning from the brakes being applied by the problem. Very confusing when this happens because the truck is trying to jerk to a stop at a moderate speed and the dash warning lights are going on. If I had driven a greater distant with the brakes being applied I certainly would have burned my brake pads.

Update from Nov 3, 2015: Called two Dodge dealerships and they did not have a clue. I called a small repair facility in Farmington, MN and a smart seasoned mechanic had a suspicion that the problem was in the emergency brake drum. YES, the emergency brake shoe linings came off and wedged into the drum causing the e-brakes to engage and try to stop the truck in violent jerks. Pull rear axles, disassemble the drums, add new shoes, resurface the drums and new axle seals and put everything together and all is well. Mechanic says this is common with Dodge, Chevy and Ford. Too bad the experts at our local Dodge dealers don't know about this common problem.