I think all American travel has to now go via the ESTA system - you can no longer travel with our ESTA clearance. What you can do to make your trip a bit easier is get cleared for US entry at ports of entry such as Dublin - that way, you enter as if you're an American returning home as you'll already have your ESTA acceptance and you'll have been cleared in Dublin by us immigration.
The other benefit is, heaven forbid you're declined entry, you will only have to travel back from Dublin, not the US.
I believe there are other European pre clearance ports too but can't remember them.
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