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Cmd + . actually acts as Escape key on iPadOS. It’s not a replacement for a physical escape key, but I don’t find it too hard to adopt.

Wow, thank you. This isn't very discoverable but will be super useful for me.

What about on MacOS? The trackbar escape key is super flaky...

Ctrl + [

There's a setting to convert caps lock into escape.

Their new models are reverting that design.