I know someone who was in a situations like yours, albeit before the ESTA program, and they were ok, he was actually a tourist when his problems happened. just don't go to the state you are wanted in, they won't extradite you for a misdemeanor, and at customs if they bring it up just tell them your heading to the city your wanted to clear up the matter.

I'm not sure if you will be allowed back tho, he's come back a few times and he still has an outstanding warrant.