I’m curious on the difference between the AT and the ES other than the AT having the option to do ESP and ES.

There are those that complain(alot) about the reliability of ES vs the footshift models but how similar are the ES vs the AT transmissions?

Are these the "same" transmissions with a few more electronics built in?

When comments are made about the ES problems, are they the same as the AT?
BTW – many of these ES problems are after the owner decides to go submarining/dunking/etc.