In my experience (with Thinkpad X1 Carbon, which also had a capacitive touch strip for function keys), it doesn't actually work that way. Your muscle memory might involve hitting the key away from the center or at a slight angle, which registers properly on the usual keyboard, but is sufficiently ambiguous with touch that sometimes it does the wrong thing, or sometimes it does nothing at all.

If I use a normal keyboard, even on my 12" Macbook, I never need to look at the keyboard, but with the touch bar, I simply cannot press the esc key, i put my finger there, touch it, and sometimes nothing happens, its like it doesn't register that you press it, or maybe im touching it wrong.

Regardless I feel like I'm trying to re-learn to type.

I'm moving to a Dell XPS 15 tho. Done with Apple if this is the direction they are going.

Sometimes I actually miss and hit the area just above it. I have nothing to catch as my finger goes to the area.