In 2wd hitting the ESP only disables the traction control (there's another safety system that tries to prevent your sliding by using your brakes)...you can find in your manual how to entirely disable ESP
Hope that helps
EDIT: If you're in 4hi and going slow enough (under 15mph I think) then press and hold the ESP button to completely disable the ESP until switching out of 4hi
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A clean an easy fix that's handy to have, add a ESP kill switch. I love it