On both tarseal and gravel roads the easiest way I find to think about it is that the vehicle will keep trying to go where the front wheels are pointing. In an older vehicle you steer into a slide to correct yourself. In a newer vehicle with esp or tc or whatever you actually need to keep your wheels pointing to where you want to go and let the computer do its magic. Lots of people end up in the ditch with new vehicles as they get into a skid and try to correct it like they used to and so of course that's where the computer thinks you want to go... Once you understand what the vehicle is trying to do I think it's a really good feature.
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