After years of using Vim, I recently learned that I could use `Ctrl+C` instead of `ESC` to get back to command mode. Mind blown.
https://www.eduardobautista.com/escape-key-alternatives-in-v...
You may like to also try `CTRL+[`. It's the telnet escape character and seems to be a general substitute for ESC on OSX, Windows, and I think Linux too. I find it pretty quick since my hands can work together.
Another handy tip I ran across was to remap CAPS LOCK to CTRL. Quite nice for both Vim and Emacs users once you get used to it.
If you don't want to move, you can just hit Alt+l as the "default" escape.
Man, that'll definitely save my pinky from cramping up every so often.