ESP rules without reason

Hey, everybody, have you ever had this problem before?
If I control the ABS from speeds around 50 to the standstill brake.When I start driving, the ESP suddenly regulates and stops me sporadically almost to zero.
Dry road, no full braking, all normal driving.

If I turn off ESP, the ABS will remain what I feel and will take action if I slow down comfortably.

I'm going to read out the error code,d
But don't you ever see anyone again.
Oliver