Open Discussion - Front solid axle conversion

[Matt]

Hmmm..... Does it actually expect to see different wheel speeds, or just accept enough variability to allow for it?

It actually expects to see different wheel speeds. It's why the EGR is needed with the SL (the knuckles change the steering angle) and why putting a WK rack in an XK causes the ESP to activate when turning.

Turn ESP off. You wouldn't want ESP working with a SFA anyways

You can't disable that feature without killing ABS and CC (as Justin mentioned). Long pressing the button still keeps the BTC active.