My biggest problem with the touchbar is the escape key. I hate not having tactile feeling for a key I use on a regular basis. I'm constantly missing it or hitting something on accident.
Make sure you choose the real keyboard if you also have a Yubikey plugged in :)
I have this setup, and it is great. After you switch capslock to be Ctrl, just run (at startup):
xcape -e 'Control_L=Escape'