ESP/Traction control can also screw you royally in a bad situation IMO.
Years ago, not thinking, (Probably a tad too fast).
I went into a round about, and the outer half was all slick as the plow picked up at the edge. I automatically tried to steer out of it and give power. ESP stepped in, cut power, and tried to brake the car instead, pretty much defeating my intent to try and power out of it with awd and pull it the other way out of the turn.
Same corner, esp off, the car had no problem pulling it away from the curb, and in the desired direction, spinning the tires with delight and control.
I understand that ESP doesn't really account for someone trying to avoid an obstacle by doing such things, but it really highlights it's shortcomings.
With ESP on, it expects you to always have the car's front end pointed where you want it and doing below the speed limit.