I’d first like to state that I’ve never driven anything with ESP so take all of this with a grain of salt. The closest thing I’ve used is traction control on a front wheel drive Mercury Sable which is not the same at all.
To me the concept of automatically applying brakes to individual wheels and/or power to others within factions of a second is amazing. If the ESP is working faster than you it’s best to just trust it. It’s probably more of a life saver in emergency maneuvers. Like when a deer jumps out or you’re on the highway and big rig in front of you looses a giant pipe off the back (we’ve all seen the commercial) or more likely, you’re behind a truck and try to pass him on the right (b/c he’s in the left lane) only to find out there is a broken down car in the right lane and you have to serve back to the left to avoid slamming onto him. If you make it out of that one you say, oh! so that’s why the truck was driving so slow in the left lane.
I’m a big proponent of finding an open place with snow on it (closed road, parking lot, frozen lake etc) where you get your car out of control so you learn how it reacts in certain situations and figure out how to get out of them. First just have fun with it and then after you have a little feel, trying applying that fun to real world stuff. In a snowy parking lot (make sure it doesn’t have the concrete bumpers!) it’s usually only large enough to get your speed up to maybe 30 before you run out of room. However, if you have a frozen lake with some snow on it try driving 45-55 mph in a straight line. Focus on a fixed point in front of you and when you get to it tell yourself you can’t hit the spot 30 feet past it that is 15 wide (it helps if you have cones or small boxes or something.) It’s very hard to quickly serve to the left, go straight and then have to serve back to the right.
Anyway, that’s just my two cents. On my parents car (the sable) you can shut of the traction control but it will automatically come back on when you go over 30mph. To me that’s fine. I hope you can take the ESP off on the Jeeps b/c if not how are you going to have any fun when you’re off road?