Rob A. / A1cntrlr:
I feel your pain. Such an annoyance. Some strange popping/grinding/grunting/thumping noises, as well. A few times I was sure that large heavy parts would start falling from the bottom of my ST... Believe it or not, the owners manual addresses all of this, including the strange noises! I feel better (I think)...
Thanks Gavin (he's correct!)
You can disable the ESC/RSC/Brake/Throttle controls, but only below 25 mph... I just went out and tried it myself. Start your ST; Press the button with the skidding car icon for > 5 seconds; it will blink at you twice. Now it is disengaged below 25mph. Kind of a cool compromise, as opposed to disengaging full time. This feature resets on shutdown and has to be repeated each time you start the vehicle (if you want the same feature).