I've read on AudiWorld that it's possible to recode the ECU (with a
VAG-COM tool) so that the ESP is permanently off, but I don't know of
anyone who's actually tried it. You'd basically have to enter a code
for a non-ESP equipped car. In 2001 (mine) A4s came with and without
ESP. However, starting in 2002 (B6) they all come with ESP standard, so
I'm not even sure what the code would be for a non-ESP version since
such thing did not exist...
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