I map 'jk' to escape, but if I'm ssh'd into a machine without my config, I can also press ^[ instead (since I too map caps lock to control), that's still easier than hitting the physical escape key.
I met Bram at Vimfest in Berlin recently and asked him if he remaps Esc. He said something along the lines of: "No, I aim for the upper left of my keyboard and hope for the best".