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Audi A6 with automatic - when would you want to have ESP on and when might you what it off?

New to the AWD scene and in combination with ESP (aka Traction Control?), I would like some advice.
 

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honestly, in an AWD car theres really no reason to turn it off.... in general you'ld turn off the trac control if you wanted to spin your tires ... tough in a quattro. in my allroad (and old A6 2.7t). the esp becomes much more useful in the 6speed cars when you can turn it off and get a bit of chirp outta the tires. i'd also turn the esp off at the track. ^_^
 

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ESP is great in the snow. It will straighten you out when rounding a slick turn. There are however limits. I recently hit a patch of ice rounding a corner and went into a rather snowy ditch. No problem. I switched off the ESP and powered on out. Some passer bys said that seeing snow spray coming from all four wheels looked cool.
 

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yeah.. esp is good in the snow... sometimes if you need a bit of wheelspin to get "un-stuck" you'll need to turn esp off.
 
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