Virtual homologation of Electronic Stability Control System (ESC) sets validity requirements on simulation models. The paper describes an approach to analyze quality of a full vehicle model for horizontal dynamics. Developed sensors layout allows to measure excitations and responses of tire and chassis in a “real-conditions” full vehicle measurement. Optical distance sensors captured orientation of wheel dynamometer coordinate system, providing precise vertical and longitudinal wheel forces. This approach revealed deviations in models of vehicle (center of gravity height) and tire (cornering stiffness). It was also used to develop a method to estimate friction properties on a day of ESC homologation without additional measurement equipment. This estimation helped to calibrate tire model for these conditions. Finally, this approach clarified an impact of specific effects (e.g., longitudinal oscillation of wheel after ESC intervention) on relevant full vehicle metrics. As a result, it explained a required level of detail of simulation tool, keeping it simple and cost-efficient.