UPDATE:
for me, holding the ESP button in for more than 8 seconds did not produce a chime nor disable the ESP. Actually, when I continued to hold in the ESP button, it eventually returns the ESP mode to fully functional.
However, the time honored Charger fix, turning-the-key-to-start-while-driving-over-10 mile-per-hour, worked like a charm. You need to hold the key in the "start" position for a few seconds before the ESP/BAS warning light will come on. A solonoid prevents the starter from re-engaging so no worries there.
Then just let the real fun begin!!!
