Start with the conclusion first, based on your information: just leave the esa button alone until after completing the turn and before initiating the next turn.
I wasn't too clear in defining the issue. There are times when I should have swtiched to "sport" and just forgot it's in the comfort mode. The bike then tells me as soon as I enter the turn, at a safe, but quick pace, that it's really in "comfort" mode in the way it's handling the turn; i.e. too soft and imprecise.
The good news form me, is that I'm rarely at the "limit", if ever, and can handle the turn in a safe manner even in the "comfort" setting. It's just that it would have been more fun in "sport" if I had remembered to set it up that way before the turn. Like the Mad Dane, you can tell instantly if you are in "comfort" when, perhaps, you should have been in "sport"; but definitely not leaned over and going as fast as he is on the track.
And yes, it is best to concentrate on the turn without any extraneous thoughts interferring. And that's the reason for the post; when it's obvious that the bike is not happy, instantly figure out the suspension is not set-up to where it should be, it upsets that concentration and my left index finger instinctively moves toward the esa button. Not good; will just complete the turn and go for the button afterward.