ESTA is valid for multiple entries with a UK Passport. You must leave North America, meaning USA, Canada and Mexico, and some caribe islands nations, within the time frame of the Tourist Visa, which is 90 days.
Your time spent in Canada, counts as time spend in the USA for the 90 days. (Same with Mexico)
You would need to leave the North America, to reset the 90 days, like a flight to Costa Rica, (Cheapest usually) or Guatemala, Belize etc.
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Adventure Travel to Central America, SE Asia, North Africa, EU and USA National Parks.
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