I've thoughly been through this with Chrysler. It was one of my biggest beefs with the 2012 model.
"Due to federal guidlines NO manaufactor will allow you to turn off ESC on a 2012 or newer model". this comes srtaight from Chrysler ( I called them and opened a ticket with customer support and had it escaleted and this was their official response). no buttons, no wheel dance or anything else will make a diffrence.
I absolutely HATE pulling into fast moving traffic and if a wheel even starts to spin the engine shuts down, rain, snow or ice IT's terrible......
HATE IT !!!!!!!!!