ESR PS2 games glitch out about 20% of the time for me and reburning the image has almost always worked. Try burning at 4x or the lowest possible burning speed you have. I've been burning games for about 6 years now on PS2 and Dreamcast and high burn speeds quite often make the game either buggy or just unplayable period.
Edit: Virbatium, TDK, and Maxell discs worked great for me. I've had issues with Sony and Memorex discs quite a lot so I suggest not using those if you can help it.