One option is to create a symbolic link for 20apt-esm-hook.conf to /dev/null:
sudo ln -s -f /dev/null /etc/apt/apt.conf.d/20apt-esm-hook.conf
Another option is to just comment out the action lines in that file:
sudo sed -i'' -e 's/^\(\s\+\)\([^#]\)/\1# \2/' /etc/apt/apt.conf.d/20apt-esm-hook.conf
Or a third option is to just rename that file to a .bak file, and create a zero length file of the same name:
sudo mv /etc/apt/apt.conf.d/20apt-esm-hook.conf /etc/apt/apt.conf.d/20apt-esm-hook.conf.bak
sudo touch /etc/apt/apt.conf.d/20apt-esm-hook.conf