There is no such thing as 'compatible with ESP'. The wheel speed sensors send speed signals to the ECM, and from there that information is used for various functions. Did you use a bearing from a bearing supplier, motor factor or a main dealer genuine part? Many bearings have the reluctor ring built in, or it's possible you fitted one or more bearings the wrong way round, and in which case the wheel speed signal is not being received. The bad news is it's very difficult to remove double angular contact bearings such as these without destroying them as the split inner races tend to seperate on removal, with one remaining on the hub. You will probably have to buy one or both new bearings again.

That's not specifically because a vehicle has ESP or otherwise, in fact all cars and light commercial vehicles in the UK from 2012 onwards have ESP fitted, and it became a legal requirement for vehicles to be fitted with it in 2014.

Hall effect and piezoelectric sensors are different and work in a different way, and so will not be compatible with each other. A controller designed to recognise one will not recognise the other. Older wheel sensors were often Inductive Pulse, but these produce an analogue signal which controllers cannot recognise. The signal therefore has to be converted to digital, and that is done within the controller. Hall effect sensors produce a digital signal which can be seen with an oscilloscope. The wave form is very simple, as the sensor is simply either ON or OFF. The frequency of the sensor (Hz) is detected, and the higher the switching frequency the faster the controller knows the wheel is spinning.

Primarily all the controller needs to know is that a wheel is spinning or not, and if so how fast. It may be that piezoelectric sensors are more reliable and more accurate, and that's why more modern vehicles use them.