There are 3 settings..."partial off" which is a quick depress of the ESP OFF button while in 4HI (does basically nothing IMO), "full off" which is depressing the ESP OFF button for 7 seconds while either in park or not moving while 4HI is engaged (better, but still not quite 'there' and only works in 4HI), and then the disabled mode which is the results of the "dance" routine which will then work in either 2wd or 4HI.

It's all very clearly explained under the "Traction Control" section in the owner's manual.