I started remapping the Caps Lock key to the Escape command when I got my tbMBP, and now it's the very first thing I do on every single computer I start using, touch bar or not. MacOS even now offers this as a 1st party option in system preferences, it works phenomenally. I even love, at a visceral level, the balanced symmetry of ESC and ENTER being opposite each other.
You can make the Caps Lock key even more useful by turning it into a "Hyper" modifier (Command+Ctrl+Option+Shift) when it is held down (great for system-wide shortcuts in Hammerspoon[0], since application shortcuts that use all four modifiers are very rare) but acts like pressing "Escape" when it is tapped.
This is easily done with Karabiner Elements[1] and a simple rule[2] you import and enable.
I get bye with capslock remapped as control and using ctrl-[, which is the pinky of each hand and requires minimal movement. Control in general is useful for everything, escape not as often.
I both knew this and read the post I was responding to, which also brings this up as an option. I commented about Ctrl-[ because it was the last previously-unmentioned option.
I'm hesitant to do this for portability reasons, but it really would be a great method.
Instead, I have some stuff in my .vimrc, which is a lot easier to port over than a key-remap.
Same, but I always remap Caps Lock to Control since I use the emacs keybindings. Using other people's laptops is really disorienting now, but worth it :)