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I set my keyboard to tap Capslock for ESC or hold for CTRL. Seems like the best of both worlds.

Agreed. For anyone else wanting to try this:

linux: github.com/alols/xcape windows: github.com/ililim/dual-key-remap mac: karabiner

as always, Miley Cyrus is right.

I use this mapping in my current setup and find it really useful.