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Switching to Esprima would be quite an undertaking, since quite a lot of the current ecosystem is using uglify2's AST, primarily chosen for the pairing with minification, thus reducing the dependency chain. I don't know about uglifys es6 capabilities. I'll have to check that.
The only thing I'm a bit vary about is the timing.
In April 2014, ES6 will be finalized. Full implementations will probably be available in Q3 2014. There's already implementations (not only polyfills) of ES6 modules available (though experimentally), so the timing is probably perfect now! ;-)