I personally tried the "key dance" for ESP disable for a JK jeep didn't work, you could always put a kill switch in between the ground wire of the ESP module(rear of center console)That would disable it for sure and when you wanted to run with ESP simply turn off your jeep and flip the switch and restart your jeep and your in business!
Edit, do at your own risk, but i've read alot of people do it to chargers/challengers with ESP, I belive it shouldn't mess with ABS and should only affect ESP and ERM also BAS may be disabled.....
Here's the article on ESP disable for a JK if anyones interested....
http://www.jpmagazine.com/techarticl...tem/index.html