It's possible to set the default touch bar display to only ever show the expanded control strip (System Preferences > Keyboard > Keyboard > Touch Bar shows: Expanded Control Strip). In that mode you tap volume up and down instead of using a volume slider.
Again, I know you're looking for physical keys (aren't we all) but it's better than nothing.
I've been using the MacBook Pro 16 (with a physical esc key plus a touch bar) and I think it's a pretty good compromise between me who wants physical keys and apple who wants to push the touch bar.
The other thing that kept happening to me: I would accidentally tap the brightness button when reaching for ESC. For that, you can "Customize Control Strip..." and remove individual buttons, so that there's a big gap on the touch bar near the ESC key so that stray taps near ESC don't change the brightness.