I've sold my Vinson and am deciding on a Foreman ES or Rubicon. I don't really understand the rubi tranny. Is it an actual 5 speed tranny that is shifted hydraulically, or is it a CV type auto, and the esp setting is really just holding preset oil pressures to simulate gearing? I like the idea of an auto, but my Suzuki CVT was less than quiet and didn't afford much versatility. Is a rubicon as quiet as a Foreman es 5 speed, or does the tranny make some more noise? When in esp mode, does it have a computer override so the engine can't be lugged, or could I cruise at 10 mph at idle on a flat road in 3rd or 4th and not get overidden by some computer? Reliability seems to be as good ar better than ES foreman model's, so that doesn't really worry me too much. I also like the low range option on a rubicon, I'm just not sure I like the price tag! Feel free to tell me anything else about either model you wish to comment on. Thanks, I want to buy the right machine this time.