There are lot of connectors and tools that can connect Jira with other tools like ServiceNow, Zendesk etc. If you have your your custom built ERP then you will have to build your own solutions.
Fortunately Jira has REST API which you can use to pull data from Jira.
https://developer.atlassian.com/cloud/jira/platform/rest/v3/intro/#about
Ravi
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