[Eric B]

Well, looking at the cognitive processes (which are what the type code are really about; not just the letters themselves), the ESTP has tertiary extraverted Feeling, and that seems to match what you describe about considering others feelings, etc. Fe will not be as strong as for an FJ type (and it will actually be much higher than the ESFP, who actually prefers introverted Feeling). So you would prefer [introverted] Thinking (along with your lead, extraverted Sensing), and then the Feeling would come next, followed by [introverted] iNtuition.

Looking at it from the Interaction Styles model, both are extraverted, of course, but the EST is "role-directive" (more task oriented), while the ESF is role-informative (more people-oriented). With the ancient temperament names, an ESFP is a "pure Sanguine", while the ESTP is a "Choleric Sanguine". Similar in expressive behavior, but the ESTP is a bit more into goals. (because of the T preference).
You had said it right; T makes decisions based on logic and analysis and F based on values; but we all actually use all of them; just that the logic will come first for you, values will come first for others.