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setxkbmap -option 'caps:ctrl_modifier'

handles part of it and

xcape -e 'Caps_Lock=Escape'

does the rest. xcape is in the ubuntu repos, for fedora there's a copr (dawid/xcape).

Thanks, I'll check out xcape.

you don't need xcape as others have suggested, setxkbmap -option caps:escape does it with just xkbmap.

Try xcape