No...

For safety, ESC is all you need. AWD actually makes it more difficult for current ESC to do a good job. Most car company advertise AWD as a safety feature, but it is actually very misleading in the presence of ESC. So if you're thinking about getting a Sienna or a Town & Country with AWD and ESC just for safety, I recommend you not to do that. It will help you get out of deep snow better, but it is definitely not safer than a FWD Sienna or T&C with ESC or the FWD Odyssey with VSA that you're thinking about.

Also, 330xi's recommendation of winter tire is good. In fact, he said it's just as important, but I would say it's way more important than any of those. The ESC helps you control safely when you reach the limit, but winter tire raises that limit significantly in all situations so you will be much less likely to need ESC.