The attached pdf contains the table extracted from justthewayitis for "non pro" modes, but does not include ESA settings.
Anyway the suspension can be adjusted in two basical ways: increasing/decreasing spring preload and increasing/decreasing hydraulic damping.
ESA, as you can see in the linked page,
https://www.bikesinfotech.com/electronic_chassis_and_suspension_adjustment_d_esa_-21.html has two categories, bike height that should work on spring preload and the other that should work on damping.
Never tried how it goes, but once you enable the enduro mode in ECU you will have the enduro option in ESA either enabled or available, and you can make tests using, for example, enduro damping (low hydraulic damping) and leaving height in AUTO, or high, depending how bad are the streets you have . Then you will see if the variations in suspensions are what you need, but just consider also the variations in ECU mode that are included with this option.