I take it if you switch the ESP off then the ABS doesn't work in an Audi? I'm assuming this because my car was even crapper than a rear wheel drive BMW in the snow this morning and previous experience in other cars has been that ABS does work even if traction control is off.
This morning I had ESP off so I could get up a hill but when coming down the brakes just locked and the car turned into a big scary sledge. Fortunately the kerb stopped me from hitting a wall.
Thank god the snow has melted now.