There's been at least two occasions when it's saved my neck. Hard to believe that those early fortwos left the factory without ESP.Oh, there's no question about that. When it does the job it's supposed to do (rather than malfunctioning) I liken the MB ESP to a very large God-like hand grabbing hold of the car and guiding it back on track.
That's what happened with the Roadsters - when they tried to correct.However...
An unwarranted and, by definition, unexpected intervention by malfunctioning automation can and does have catastrophic consequences, not least because the driver will tend to fight against the unexpected intervention. This is a well-understood problem in commercial aviation (B737 MAX, anybody?) because the person at the controls is a) taken by surprise at the intervention, b) they take time to assimilate what is happening, and c) in the intervening time take what they believe is corrective action that may actually make the situation worse. In the aviation world that tends to result in a smoking hole ending.
That the system itself isn't recognising and recording any faults makes me think it is acting on spurious inputs which it views as genuine and I'm guessing a significant mechanical aspect is at play. A G-sensor adrift from its moorings could throw in a G spike, a split or slipping ABS reluctor ring, a detached steering wheel angle sensor, etc.Returning to automotive automation...
Faults that could result in uncommanded directional control inputs (brake or steering intervention, etc.) should result in functionality of the intervention system being disabled and that disabling being flagged up to the driver by way of a warning. That the OP is experiencing uncommanded inputs without prior warning of a malfunction is seriously worrying.
There's also the (more remote) possibility of induced voltages such as happened with early Porsche 964s when the drivetrain moved on its mountings under hard acceleration and brought the new dual distributor set-up into close proximity to the ABS unit and activated it.
Always pulling to the right suggests it's trying to correct a perceived oversteer event incurred in a left hand turn.