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I've been a happy HHKB user for almost 10 years and a Vim user slightly longer, and this is exactly what I do (though ctrl is already in the right place on the HHKB). I believe it was one of the first things I figured out in Vim, because it was so annoying to me to have to go all the way up to the escape key all the time. Ctrl+[ is such a pleasant little chord to hit.

Map caps lock to ctrl and then set it to trigger escape when tapped, ctrl wehn held down.

This is the most important thing I have ever learned about using vim. For the past 15 years it is the first thing I do on any computer I use.