Re: I'm keeping the traction control on for now on unless I'm the only one on the road.
Sounds like you have a factory freak there... more than the standard HP and torque and a "slow" yaw sensor. I'd see about getting the yaw sensor checked if I were you. I couldn't get mine to go in a circle from a stop if my life depended on it... the ESP is WAY too intrusive.
Good luck!