If you are a vi user, you could consider using CTRL-[ instead of escape. I find this to be more comfortable and quicker to use anyways and you wouldn't need to use the touch bar anymore
I like mapping jk (and kj) to escape. For lefties I imagine df (and fd) would be more convenient. Both sequences are unlikely to appear in any words. They're on the home keys, so least effort to move your hands.
https://vim.fandom.com/wiki/Avoid_the_escape_key
