There's quite a few apps (both open source and proprietary) that enable haptic feedback for the touchbar. I recommend trying them out if you're missing the feeling of actually touching the escape key.

I think they leverage the same feedback mechanism that the track pad uses to make it feel like you're actually clicking.

Links: - https://www.haptictouchbar.com - https://github.com/niw/HapticKey - https://community.folivora.ai/t/touchbar-haptic-feedback-imp...