That was the problem. Once you overstayed even a day, you were not supposed to use the ESTA and the same if you had a conviction for a crime involving moral turpitude.
If you want to visit the U.S. again, you will need to apply for a B-2 tourist visa. You would have to file for a B-2 visa which can be found here:
Because of the crime involving moral turpitude and possibly if they gave you a 5 year bar to entry after you tried recently, you may need a 212(d)(3) waiver which can either be done by the immigration officer at the interview or after just on their computer (take a look at this link):
You can find more information here:
IF the maximum time for the crime that you were charged with was 1 year or less AND the sentence was 6 months or less (no time in jail is less than 6 months), then you may fit into the petty offense exception and may be able to avoid a waiver. BUT, if they gave you a 5 year bar on May 21, 2016, then for the next 5 years, you will need a waiver.
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