Below is a good description on ESP...its not really a "comfort" feature as much as it is a safety feature.
https://en.wikipedia.org/wiki/Electr...bility_control
Are you a first time RV'er? I'm never really sure how to follow up with a stability question, because so many people have different expectations. These are RV's and won't handle like a car or SUV, especially in high winds. So I hesitate to say "well that's just the way it is" before I know your background. Because you may actually have an issue or it may actually be "just the way it is". The Sprinter is sprung pretty light...which makes it a very soft, comfortable ride, but that lack of stiffness also allows some sway. The Isata 3 actually comes with an upgraded sway bar that reduces the amount of sway and roll in corners. They will still roll in the corner, but it springs back quickly...without the bar it will go back and forth a bit until it finds center.
First thing I would do is verify tire pressure. That plays a much larger roll in handling and suspension that people think. All 6 tires.
second, make sure the helwig is on there. Its a gray/silver sway bar that follows along the rear axle. The factory bar is just paint black..the Helwig has sort of a "rhino liner" finish.
If all that checks out....then its probably normal. Then if you're still not happy with the ride...you can look at Sumo springs and possibly shocks.