We've probably covered this, but remind me, what tyres do you have, what tread left on them and when was the last time you had your geometry checked?
Not meaning to be blunt, but you have 2 options as to why it is happening:
(1) the car setup isnt right somehow (tyres, geometry, etc)
(2) the ESP is too nannying for your style
So why not get the car checked over and if all is well with that just turn it off and be happy that your skills will keep you on the road?