The only time I found shutting off the ESP helped, was when I was towing the OLD VW Van with a tow bar. The ESP would over correct for what the Van was doing to the Liberty with a strong side wind. As soon as I got home, I unhooked the tow bar and I turned the ESP back on. The only time my ESP light comes on is under slippery conditions, if the road is super slick I put it into Part Time 4WD and for normal slick I go with Full Time 4WD, so I don't get the drive train wind up.
I have driven rental cars with Traction Control that I could not rock out of being stuck with out shutting off the Traction Control. Unlike Traction Control, I have not had the Big Brother is helping the nut behind the wheel feeling with ESP.
One place often overlooked as being a slick spot, is at intersections where the old clunker Semis and Garbage Trucks drip oil onto the pavement. When it is dry, the oil is absorbed by the asphalt, but when it is wet, the water brings some of the oil, not yet absorbed out of the asphalt pockets and up to where the tires contact the pavement, making the wheels spin and setting off the ESP.
If you want to have some fun, this is a time you can put the transfer case selector into Part Time 4WD and humiliate the Big Block Tahoe, Suburban,or Expedition next to you at the light with your CRD (been there done that)
I have never had my ESP light come on when I have it in Part Time 4WD
BTW, BlackLibertyCRD has the right fix too.