Does a 1996 audi a4 quattro 2.8l v6 have ESP (electronic stability program)?
As far as I know, ESP was only introduced at the very end of the 90s or even only in the beginning of 2000. I’m 99% sure that it doesn’t have ESP, but hey, at least you have 4-wheel drive. If you already have the car you can check it quite easily; is there an ESP button or not? If not then it doesn’t have it. If you’re still unsure, take your car to an open and empty parking lot on a wet day and try to slide it :). I wouldn’t recommend doing this though!
