AFAIK ESD's development has ceased some time ago and it lacks many useful features PulseAudio has. For example PA offers Avahi service discovery, which means I can select available sink without knowing IP addresses. It can also act as ALSA sink, so there is no need to reconfigure all apps using this sound system, emulate ESD (GStreamer and Xine have PA output plugins anyway) and does other fancy-shmancy stuff that can be useful. Basically PA is much more feature rich than ESD and a mature project. I am using it at home and it works great.
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