The other anecdote is I've been using vim for about 15 years, and use esc daily. I am constantly in multiple vim environments - different servers, different clients, different OS, etc. I don't have the luxury of saying "I'm going to install all my default vim keybindings and plugins on every vim installation I ever use". Walking someone else over the phone who has to do vim - I need to count on some standard defaults being there, and 'esc' is one.
So yeah - some of you "power users" - fine - you've never touched ESC in 20 years - good for you. You're in the minority.
I've been using vi for over 20 years, but not a power user or anything (emacs for code, vi for quick edits), and have no idea how to use it without esc. Did vim change something? How do you switch modes?
Ctrl-[ == Esc. I had to learn Ctrl-[ three years or so back due to bluetooth keyboard paired with tablet and insufficient time to troubleshoot why Esc wasn't working, and then discovered that it's actually easier on my wrists to use Ctrl-[ and never went back.
I use vim, I just assumed that when you open Terminal, a virtual escape key would appear in the touch bar. It'd still be in the corner, so fitts law would still apply, and it'd be easy to find.
I'm not even a power user, & after 25 years, I just know the basic few commands that you need to do anything - insert, delete, search/replace, save, & quit.
ESC is the key that (roughly) takes you back to normal mode from insert mode, visual mode, etc. If you aren't using it, then you're either using one of the other ways to get back to normal mode (like CTRL-[), or you are using Vi in a very non-standard way.