You can change the coding so you can switch it off completely, however this will only last for that session (or as soon as you turn front assist or cruise control back on).
I changed coding on mine so I can have Sport ESP that you do get on GTI/GTD models and this does leave you pretty fully in control, to the point where your average driver would struggle to hold it. It does allow you to have quite some fun though

Never needed full ESP OFF.