As far as I know, when someone deactivates the ESP from the setting menu, same is not fully deactivated but partially only.
However there is a 'secret' menu, so you have to press at the same time the 'call' button on the right side of the steeing wheel and the 'OK' button on the left side.
Then you enter into a engineering menu, where among other info, you can see an option of 'rolling'. This option actually is supposed to be activated while car on dyno and in my understanding it actually deactivates ESP 100%.
If someone tries above please let us know if works and relevant experience gained.