If you’ve had wheel alignment done after the lift. Depending on how high the lift is, the ADAS sensor in your windscreen also needs adjusting. This is what triggers the ESC.Mine is back the dealer tomorrow for further analysis. I can't do any left turns without it braking lightly and any high speed left turns triggers the ESC. I have had numerous wheel alignments including one by the dealer so that's not the issue.
I know of this from the Suzuki Jimny. One of the other factors is indeed sway, ie softer springs and tyre pressures.