I think of ESP as some jiggery pokey where the car will attempt to keep its self out of the scenery.
It has access to stuff you don't, like braking one wheel here to ensure traction elsewhere, in order to maintain direction of travel.
Having said that, on a track it can be dangerous to have the car trying to interpret your intentions, and getting it wrong.
The best place to find out what it does is on snow, with loads of space to slide into
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A journey of a thousand+ (epic) miles, begins with a single step, (to the door of an 8). Lau Tzu
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