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The ESP/VSC usually kicks in way faster than you even start to correct the steering. There were times (i.e. black ice or overly wet situations with ice tires) where the car was starting to drift out of line to the point the electronics can no longer save the car, and that's when I will apply corrective steering to save it myself.
The only time the electronics would kick in as a surprise would be for example mid corner, the ESP/VSC cuts power and causes mild understeer.
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