I get comparatively poor mileage in mine. Probably due to fuel quality. I changed the PCV, plugs that were seriously worn, air filter, fuel filter all at the same time. The first tank full I pressed the ESP button to compare. After all the new part I lost about 1mpg. Since then I have run without it depressed and have gained about 2mpg with the new parts.
My esp kicks in quite a bit because the roads are very rough here. It does take away my throttle big time, sometimes for about a second. I'm pretty sure it cuts timing, fuel, and air the same as letting off the throttle.
Here is a TSB for 04-06's that now makes sense.
SYMPTOM/CONDITION:
The customer may experience a premature and momentary activation of the Electronic Stability Program (ESP) system. The premature activation of the ESP system may or may not be accompanied with the illumination of the ESP indicator lamp located in the instrument cluster. The customer may experience the momentary ESP system activation on a "clover leaf type turn, at speeds of approximately 25 to 40 MPH (40 to 64 KPH). This could also be described as a lack of throttle response or hesitation. Driving over speed bumps at a slight angle can also cause the same ESP event accompanied by lack of throttle response. The customer may also complain of low idle speed.
The customer may also experience MIL for one of the following Diagnostic Trouble Code:
I. P0340 - Camshaft Position Sensor Circuit - Bank 1 Sensor 1
ii. P0344 - Camshaft Position Sensor Intermittent - Bank 1 Sensor 1
iii. P0116 - Engine Coolant Temperature Sensor Performance
It can be flashed for repair