Lots of people here are commenting on the LCR but your question related to the LC (or FR), not sure how many have driven a lot of miles in the LC.
I did above 30k miles in my old LC 20VT, and the one time I needed ESP I didn't have it, braking whilst changing direction (school boy error) on a wet motorway and span the car. Ended up with a written off car, lucky not to have been injured looking back.
It's one of those things you'll never need, till you need it. Or you may never need it. Or maybe your driving skills are really good.
You could try getting a demonstrator with ESP and taking to a trading estate and have a little play