The escape key can be right there on the capslock (option to be enabled in System Preferences -> Keyboard). Using Esc key heavily with its default location is not practical at all. As for the F-keys I think this is more of a problem.
As for some recommendations others have had... I have Caps Lock mapped to Ctrl and Ctrl-[ remapped for tmux so those are out.
This is the same across several machines (MBP and multiples ThinkPads) so the more feasible solution for me is to simply stop using the Mac.