I loved it on my 2009 GS and 2012 RT, but it was problematic on my 2014 GS LC from the start and it eventually failed last year. Luckily Alan Jefferies had logged my complaint whilst the bike was still under warranty and fitted a replacement rear shock FOC, but it's still erratic at times e.g. harsh damping at low speed after riding at high speed
Mine has been the same , but having come from Hyperpro equiped 1150gs and then an r1200gsa tc with Maxton kit fitted every bike I have ridden fitted with ESA all felt harsh including older r1200rt's a couple of r1200r tc's, two r1200gs lc models and worst of all the three r1200gsa lc models.
Until BMW make the system programmable to individual rider weights it will never perform as well as a non esa model with good quality aftermarket shocks.