I'm wit ja on dat one brother! I feel the same way. I use the ESP light as a little tap on the shoulder that "the edge" is very near. The ESP on the RS6 will allow you to kick out the rear end just a bit without intervention allow a nice 4 wheel drift. But steps in nicely and unobtrusively when necessary.
btw....it doesn't understeer nearly as much with the H-Sport Sways front and rear with the rear set a it's tightest setting. FWIW