ESP (Enhanced Stability Program) Off (4WD High Range Only):
This mode is intended for off-highway or off-road use when ESP stability features could inhibit vehicle maneuverability due to trail conditions. This mode is entered by depressing and holding the ESP Control Switch for 5 seconds when the vehicle is stopped and the engine is running. In this mode, all ESP and TCS (Traction Control System) stability features are turned off except for the 'limited slip' feature. After 5 seconds, a chime will sound, the ESP/TSC light will illuminate, and ESPOFF message will appear in the odometer.
Bob K. aka the 2007 owner's manual.