I hear what you are saying-the other thing that the ESP does is compensate for an open rear end-the SRT6 does NOT have a mechanical limited slip - it utilizes the brakes to keep both tires spinning equally, or to transmit the power from one ot the other...I noticed that if you have turned ESP off and pin it from a dead stop you can feel the tires spinning from one side to the other - which leaves odd marks also with one side getting darker and lighter opposite of the other one - as the brakes clamp from one side to the other. I was going to try and run a loop wire from the rear wheel sensors to the front so the computer can't tell the difference in wheel speed from front to rear, (like when doing donuts or drifting)but because of the tire diameter difference from front to rear, that will probably not work either...but I may try it anyway -