I can tell you the differences between two men -- an ISTp friend of mine and a former ESTp work colleague.
The ESTp was more of a people's person, outgoing, far more interested in physical activities, with a stronger bent towards vulgarity.
The ISTp is more intellectual, reserved, less obviously physical.
Both are seen as arrogant, but while the ESTp is seen as a guy who obviously steps on others' toes in order to get his way, the ISTp's perceived arrogance is more of a know-it-all nature and stand-offishness.
The ESTp seemed to think, "I'm so great"; the ISTp, "why doesn't everybody recognize I'm great"?
I'm giving the example of two individuals, I hope it helps.
I get along fine with the ISTp; the ESTp was too much of a back-stabber.