First there is no way to completely disable them. 2nd make sure your steering wheel is 100% straight if its out even slightly it really messes with esp. 3rd, there is a TSB that allows ESP to be permanently turned off (but not truley off, just so you don't have to hit the button all the time), something like turn your wheel straight, hold esp for 3 secs, then half turn left hold esp then half turn right hold esp. But that's only as good as hitting the button and wont totally cut it off.
...I feel your pain.