When vi was originally designed the most popular keyboard was ADM-3A and later IBM XT https://en.wikipedia.org/wiki/IBM_PC_keyboard#/media/File:IB... The layout of this keyboard has Control on the place where modern keyboards have a CapsLock key. Naturally that's why vi and vim was meant to use CTRL-[ to exit to the normal mode.
25 years later Apple introduced ToughBar and made ESC key virtual. As result remapped CapsLock-[ make sense again ;)
edit: Add ADM-3A keyboard