Not sure if you're looking for a permanant or temporary solution.
Here's the temporary option. Second button from the left
From pg 464 of the manual:
The ESC system has three available operating modes in
4H range. The system has one operating mode in 4L
range. Two-wheel drive vehicles and four-wheel drive
vehicles in 2H range have two operating modes.
4H Range (4WD Models)
This is the normal operating mode for ESC in 4H range.
This mode is entered by momentarily pressing the ESC
This mode is entered by pressing and holding momentarilypressing the ESC OFF switch for 5 seconds.