Long Story Short
1. Keep them away from other electronics and wires.
2. Always keep your antennas vertical.
Short Story Long
I'm running RadioLink on a few different cars with Zero, Zip, Zilch, Nada issues. Of course you mileage will vary.
However, I did have one issue where I did not secure the second antenna on the receiver. I tucked it under the electronics and it glitched just like you described. The ESC threw a code for Radio Interference too. Then I secured it away from metal and other electronics and it's no problem now.
The antennas are in the two straws sticking up from the center brace. Ignore the red circle, the pic is repurposed. This has been a solid setup. This all fits under the lid. It could be higher but the height doesn't matter
that much as long as it's line of sight.
There are a few things going on here.
Remember that a receiver and it's designed to pick up signals, even unintended signals. So anything near it has the potential to interfere with (confuse) it. The TX and RX both have a lot of filters to help with this but it's easy to overwhelm them with garbage signals.
But the servo is like a 10KHz at most signal you say. That is correct, but the frequencies emitted by the servo signals are related to the slew rate (how fast the signal rises or falls) not the frequency at which they occur. Then there are harmonics (lower frequencies that are multiples of the source) that can also interfere. So it's entirely plausible for the slow frequency signal to interfere with a 2.4Ghz signal.
Also, in the ideal world the TX and RX antennas are both vertical. If one is out of alignment the signal strength is reduced. If the RX antenna is horizontal and the TX is vertical, it will still work to some degree but it's the worst case scenario. Add that with the noise of the signals near it and the TX will quickly be drowned out.
If you have the two antenna receiver, they are really designed for aircraft where the antennas are rarely aligned. This is why RadioLink tells you to put them at 90° to each other. The receiver takes both signals and mixes them to reconstruct the best signal. If one is completely out of littered with noise, it can overwhelm the other one and the signal is garbage. i.e. the car will do weird things.