Unless I see actual side-by-side tests by a driver skilled enough to be proficient in threshold braking, I will always see ABS as longer stopping distances and do not feel the ABS of 'today' has advanced far enough to make up for driver skill (for those who have it that is).
The biggest and most noticable problem with ABS comes into play with track conditions when you are using r-compound tires and better brakes and the factory 'stock' abs cannot compensate so threashold braking is what you want and use (none of my track cars have ABS).
^ I learned how to drive before ABS came into being and I just chuckle at the people who call it quits for a track day at a roadcourse when their ABS craps out because they can't drive without their crutch!
When I took my former 2010 TDI to a roadcourse for a track day, I pulled the ABS sensor to avoid the ABS and ECS headache!
I learned how to use a non-ABS system in a performance setting before ABS was a big thing and I honestly prefer ABS. Not so much for straight line stuff, I'd rather not have it for that, but for actual threshold braking. Without ABS it's too easy to lock up the rear tires going into a turn, but with multi-channel ABS that can separate the front from the rear you get much better control going into a corner.
Ideally my track car would be something like a Spec Racer Ford or something purely dedicated to track days where I wouldn't have ABS. But if I'm driving the same car on the track as I depend upon to get me to work.... I'm good with ABS.
Yep, it will withhold throttle until the vehicle has been stabilized. It really doesn't come into play until you're past about 90% of the car's capability though, very few people will ever be slowed down by it (hopefully none if we're talking about driving on the street). It is mainly a matter of principle that people are complaining about it - and rightfully so. If I can turn everything off on a Corvette, I should absolutely be able to turn it off on a Golf!
Actually...... now I remember that sensation of stepping on the throttle and going "WTF???" The key is to not let it get to that point in the first place; once you feel the sensation of the rear wanting to start rotating is when you should crack open the throttle; so you should never approach the need to counter-steer.
I understand that in most cars it's desirable to get the tail wagging just a bit while you're on the throttle, but this car doesn't like that (probably mostly due to the electronic constraints). What's interesting is if you catch it just right the car almost sort of feels like it has AWD, because you can get away with a higher than usual amount of throttle input for a FWD car at much earlier than one would expect.
It's oddly satisfying when you get it right, and it kind of trains you to approach hustling this car in a very smooth manner. Unfortunately I'm so far away from an active autocross region that I can't say if it's faster or not, but on a twisty backroad it feels "right."
Again, I'm firmly a part of the "RABBLE RABBLE, SCREW YOU VW LET ME TURN OFF ESP" crowd, but since I'm stuck with this for a while I felt like it was worth at least trying to figure out how to live with. On the street I don't really curse the presence of ESP, although if I could take my car to more track events or autocrosses I most certainly would.