I switched to Vim because my left pinky was getting numb, *(thanks vim!) and then to Sublime, and now, Atom, for aesthetic reasons, really. Easier to read, I don't wanna wind up needing glasses. I'm still using the vim packages though.
You could just remap jj or jk to ESC.
How can you use regular letters in place of ESC in vim? How would you type "Dijkstra"?
Also see [1]:
:help timeoutlen
and :help ttimeoutlen
[1] - http://vimdoc.sourceforge.net/htmldoc/options.html#%27timeou...See the 'jj' part in the 'Mappings' section.