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I used to have it mapped to escape but once I started using tmux I mapped caps lock to control and never looked back. Much more versatile than escape and ctrl+[ will do the same thing (although it's proving hard to break the habit of pressing escape instead).

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Best of both worlds: KeyRemap4MacBook has a setting where Control acts as Control when held down, but acts as Escape if typed alone. This in combination with setting Caps Lock as Control in OSX is all sorts of awesome.

Unmap your escape key, that will force the habit. I did this when I moved my control and meta keys to the left thumb of my kinesis keyboard, and it helped train me not to hit the old keys.

I've tried this in the past but it made both escape and ctrl+[ no longer function. What worked for you?

Under OSX I used a tool called KeyRemap4MacBook which adds an item to the control panel that lets you reconfigure keys. I just tested it, you can can disable the escape key, but Ctrl-[ still works like you'd expect.

imap jk <Esc>

Hitting jk in insert mode for escape is wonderful.

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