I always stopped my XK and went to park and held the ESP switch for five seconds before driving in deep sand ie. North Carolina OBX sand otherwise the the brakes pulsed. check out page 138 at least in my 06 owner's manual. I only see where it turns off esp over 30 mph when you are in 4wd low. Not sure why you you need 4 wd low if you can go that fast. But I only use use my XK for beach driving.