ESP is traction control. Some people love it, some people hate it. I suggest setting up the same scenario in both trucks to see the difference. Drive through a little puddle of water (make one if you have to) and then punch the gas pedal with wet tires (on pavement) while your front tires are turned slightly. Basically, try to simulate hitting a curving interstate acceleration ramp in rainy conditions. You'll find out what ESP is because it'll be the truck that's still going straight.
Most people I read posting about it don't really like ESP off-road. You can turn it "off," but it seems that it's never truely off. I haven't driven the ESP off-road though, so I can't say one way or the other.
Personally, it being my DD, I like NOT having ESP in my truck. If my wife was driving it as her DD, I would prefer to have ESP. That's not meant to be a sexist statement. I'm just saying that I like dirt-trackin' my little truck up acceleration ramps. My wife...not so much.
