I hate to burst your bubble, but you're not a better driver than the computer.

ESC exists to keep amateurs out of the hospital when bravado exceeds native skills. If you run NASCAR for a living, then I might be willing to concede the issue.

If the traction control is kicking in, it is because you have exceeded the available grip of the tires, and the computer will modulate the power to get you back into traction as quickly as possible.

If you reformat to "normally off", you will forget that it is in that condition. If you think you will only turn it on "when you need it", then you may as well not have it at all. Like only wearing a seat belt on long trips, or CCW only in 'bad areas'. Most trouble finds you when and where you least expect it, and familiarity has bred contempt. Lots of folks think they can brake better than ABS, 99.999% cannot.

You could probably pull the fuse, but make sure you have your affairs in order, your will up to date, and $1MM in the bank, as an insurance company would likely frown on a payout if you have disabled the system on public roadways.