If you really want donuts... disconnect the Yaw sensor... it's under the center console, just aft (to the rear) of the shifter, bolted to the chassis.

Woody over in europe has an excellent video on here somewhere called 'dirty donuts'... can't do that with the ESP still enabled.

I think the ESP is forced off because the yaw sensor is 'faulty' so the system shuts itself off for safety.

Cheers!