"Someone mentioned above that the ESR on most batteries is so great that there will be a natural current limiter in place, but I am not so sure about that. I think the ESR will be on the donor side (the more charged one), whereas the depleted or faulty battery will have very little ESR."
You impression is exactly opposite to the facts----The charged battery will always have the lower internal resistance,otherwise it could not source useful current.
If you read the open circuit voltage of a "flat" car battery,with a DMM or similar,the reading will be less than the same reading of a charged battery,but only by a few volts--say,11.8 volts compared to around 13volts.
If you now turn on the car headlights,it will drop to around 9 volts or so.
If you try to operate the starter,just the solenoid operating will drop it still further.
The internal resistance of a battery is made up of real resistance,due to the mechanical construction of the device,which is the same no matter what the charge state is & the apparent resistance,which varies with the state of charge.
In Electronics,there are a number of cases of these "apparent" resistances:
In an AC motor,the mechanical load appears as a resistive component of the current drawn by the motor,moving the current phasor towards the resistive axis.
In an Antenna,when energy is radiated,the so-called "Radiation Resistance" also appears as a resistance.
"How many battery chargers exist with no current limiting? In my opinion none. That means the ESR of the battery being charged cannot be depended upon and should be considered a short."
In fact,there are millons of battery chargers worldwide,with no current limiting other than the internal resistance of the transformer secondary & rectifier.
These are used every day---if a flat battery looked like a short circuit,they would all be destroyed,the first time they were used.
This is fact---not opinion!
By the way,when you jump start a car,you are not trying to charge the battery --you are just providing a high current source to turn the starter.
As soon as your engine is running,its alternator will take over charging of the battery.
I made the comment about "20minutes" because I recently had an alternator fail in the Outback.
Fortunately,someone came to my aid,& charged my battery about every 40km until I made it to my destination.
Even with that long a charge,we had to use the "Donor" to operate the starter.