As a concession they now let you map the CapsLock key to Esc in Settings → Keyboard 
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Oh, thank you! That’s life saving advice :)
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Mapping caps to ctrl and re-training myself to use c-[ for normal has been one of my better vim-related decisions. Most emulated Vim overloads Esc so it's unreliable but c-[ has worked for me in pretty much everything.
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One solution might be to swap caps lock with escape. Works great for me independent of touch bar (I'm not on a Mac though)
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I sorta got used to it but it is undeniably shit
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Nope, you're not. Learn to embrace mapping the Esc key to caps lock in macOS settings, that's the only way I'm coping.
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