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On Linux and Mac it’s possible to have caps be escape when pressed alone or control when pressed with another key. On Linux the software is called xcape. :)

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There's also caps2esc, which works even on the tty. https://gitlab.com/interception/linux/plugins/caps2esc

On Mac, there is Karabiner-Elements.

https://karabiner-elements.pqrs.org/

Here's a Karabiner tutorial that worked for me: https://medium.com/@pechyonkin/how-to-map-capslock-to-contro...

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