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I would also recommend quickly getting in the habit of using ctrl-[ instead of reaching clear over (on most keyboards) for the escape key.

Or you can remap caps-lock to escape. I know that doesn't match the whole 'vi is already everywhere (on Unix)' aspect, but it's an option.

Surely Caps Lock is already mapped to Ctrl? Then Ctrl-[ for Escape becomes easier as do all the other Ctrl combinations.

I could see hardcore vi users mapping it to Escape rather than Ctrl.

Or maybe Menu, Windows, etc. keys, on keyboards that have them.

When I tried it, I used jj as a shortcut for escape. It seemed to work well enough.

'kj' is (for me) even more natural.