I think most "hardcore" vim users do re-map Esc for something else, like Ctrl-C (or maybe it's a built-in alternative keybinding) or Caps Lock.

I've used vim for 25+ years, but always alongside other editors (only used it as my main driver for 4-5 years sometime in the 90s), so I've always stuck with Esc (which, is the default anyway).

That said, I wanna jump back on with Nvim 5.0 when I get the chance to have a free day to setup and configure it to my liking.