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A bit tricky when I have Caps Lock remapped to Control, like any self-respecting emacs user!

Do both!

You can use karabiner elements to remap CAPS LOCK so that it’s ESCAPE when tapped and CONTROL when held.

I also map my Caps Lock to Control, but don't forget that Ctrl + [ is the equivalent of Escape in vi/vim. It's a chord, but it ends up being much more convenient for me since the keys are both comfortably around the home row keys.

I agree but, as I said initially, I only see this in the developer crowd. I just don't hear that type of criticism from any other segment in any of the companies I work with.

I think one of the main points is that you shouldn't have to.