The Bosch based ESP function includes Traction Control.
I have had cars for several years that have had ESP and it has always felt like the Traction Control(TC) side of things cut in a bit early with the light flashing away with no real provocation.
On the 2.0TDi it seems the other way around and the ESP seems to wait until things have got seriously out of hand before doing anything about it.
I guess the wicked torque of the TDi can just plain overwhelm the available grip - it feels like the ESP takes ages to wake up? Anyone else experienced this?