Well, ya gotta do what experience tells you that works. However, I don't understand why the "limited slip" function of the TCS system should be detrimental to crawling on the rocks. Folk instal LSDs and Detroits on purpose to get that functionality. When disabling the ESP system the limited slip part of the TCS is all that continues to work, and it seems to me that it would be to your advantage.
Just my 0.02