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The times when I've had ice mode was on rough pavement. I've gotten pretty bad ice mode braking at the stadium parking lot in San Diego, which is in really rough shape. I haven't had ice mode on road courses or at autocrosses held in parking lots where the pavement was in good shape.
I found that ice mode could be avoided by altering my driving style. By using the brakes like a rheostat dimmer instead of an on/off switch, I was able to prevent ice mode from kicking in.
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