True, BUT.............Zero ESR and ESL only happen in theoretical world, there is always parasitic resistance and inductance. Just how small you can get it. Also it is layout dependent also. It is a complete system. I always use ground and power plane......yes, even in this amplifier circuit to keep all the parasitic low. I have 0.1uF bypass cap within 0.1" from the collector of each emitter follower transistor on the board from ground to power plane. Then I have 10uF electrolytic close by on every transistor also. I have been doing this even on transistor circuits with frequency response to 5GHz for many years.
A good design has to be looked at in a system point of view, ESR and ESL of capacitors is only one part of the equation. Point is you want to keep all the parasitic low as much as possible so you don't have to deal with them. That the circuit becomes simpler and more predictable.
In microwave, we talk about wavelength. Every small distance becomes LRC element as in the Smith Chart. It's just how small you can get so it is out of the picture of the circuit. We use the guide line of if the distance is less than 1/20 of wavelength, we ignore it. Even SMD, chip components has parasitic lead length and capacitance, never zero. That's a given already, we just want to keep it as low as possible.
Another way to look at it is you make the parasitic low enough that resonance frequency is way beyond the circuit can respond so it becomes a non issue. So you design the circuit and choose components accordingly. I use leaded 0.1uF bypass cap that I know would work to over 100MHz, so for audio power amp, it's an ideal cap.
From experience, leaded components cannot work reliably beyond like 300MHz. Yes, you can monkey around and make it work, but it's how you move the parasitic to just make it work. You change the layout, the same circuit might burst into oscillation.