Not an ESP user.
My wife's 09 Heritage has had one failure in 91,000 miles. The Stator went out with 51K on the bike. New service writer came out, looked at it wrote down the Mileage, and in about ten minutes said this repair will be costly, you ready to hear the price, My reply was nope, it's under warranty for two more weeks. The look on his face was priceless, and he says to me you put 51K on in less than two years, and I replied, nope, I never ride this bike, its my wife's!
She still has and rides the Heritage, but we just traded her 18 month old street glide with 38,650 miles on it for a 13 street glide in April. She will have 10K on it when she gets home from Bend Oregon Monday.
I guess we are very lucky, but so far with the exception of my fatboy all my big repairs have been in the 2 year warranty.
I will say the lifters failed on My 09 CVO two weeks after I traded it, with 44K on it.