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ESC is the key that (roughly) takes you back to normal mode from insert mode, visual mode, etc. If you aren't using it, then you're either using one of the other ways to get back to normal mode (like CTRL-[), or you are using Vi in a very non-standard way.

See, for example: https://en.wikipedia.org/wiki/Vi#Interface

To switch modes from insert back to normal mode. I assumed ESC was the second key any Vim user used, just after `i`.

From the docs: http://vimdoc.sourceforge.net/htmldoc/insert.html#i_%3CEsc%3...

End insert or Replace mode, go back to Normal mode. Finish abbreviation.

Note: If your <Esc> key is hard to hit on your keyboard, train yourself to use CTRL-[.