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Or you can remap caps-lock to escape. I know that doesn't match the whole 'vi is already everywhere (on Unix)' aspect, but it's an option.

Surely Caps Lock is already mapped to Ctrl? Then Ctrl-[ for Escape becomes easier as do all the other Ctrl combinations.

I could see hardcore vi users mapping it to Escape rather than Ctrl.

Or maybe Menu, Windows, etc. keys, on keyboards that have them.