Unfortunately in this day and time when I new generation (or model) is introduced the end user becomes a beta tester. No matter how much testing is done by the manufacturer I think we end up being the "real world' testers. Now as it regards the ESP you have to way out how long you plan on keeping the car, would the ESP benefit you if you plan on keeping it for an extended time past the manufacturers warranty, is the ESP worth it (read the fine print to find out what is covered), and above all remember that ESP's are negotiable.