All depends on the programming. The ASR/ESP program in our Mercedes E300 was ridiculous in how fast it intervened. It had an "off" setting which was NOT off, but instead just more forgiving. In our C36, the same ASR/ESP in the off position allowed hoonage, but eventually cracked down on you. Subaru tunes theirs to allow the AWD to work, and while I despised the idea of a Subaru AWD with some version of electronic traction/yaw control, it seems to work well.