Absolutely. Esprima is one of the better things to happen to the JavaScript world.
The lack of a good, fast, reusable JavaScript parser has been an annoying deficit that is finally being adequately addressed.
There's been a bunch of JS parsers over the years (many PEG-based), but my project (at least) has brought all of them to their knees. Very, very frustrating to get OOM errors trying to parse large JavaScript frameworks and perform code transformations.
It isn't quite pure Esprima, we (Scripted) are using my (unfinished!) fork of Esprima that has some recovery features. That way we can get a decent AST out even when there are errors, it is setup here for playing around with: http://aclement.github.com/esprima/demo/parse.html
One of the things I like about Scripted is how it shows jslint warnings and errors right alongside the corresponding line.
I also like the promise of writing plugins in JavaScript instead of Python, in the case of Sublime.
Bonus points for using Esprima to parse; I'm currently exploring using Harmonizr (which uses Esprima) as a way to start using ES6 syntax.