I'm personally a fan of remapping jk or jj to esc, there barely any instances in the english language where you would use those two letters together, and it means you can leave insert mode whilst barely moving your hands :D
Otherwise it's very practical though.
Haven’t touched that part of my vimrc in years
inoremap jk <ESC>
I learned it through Spacemacs and it's one of the things that really made modal editing work for me, so I was thrilled to discover that Vim itself also supports it. (I'd tried to learn Vim before, but always having to jump over to the Escape key was a huge downer for me, and coming from Emacs I'd already mapped my CapsLock to Ctrl--though the idea of having it be Esc if pressed by itself is intriguing and I need to look into it more!)