[dilap]

you can do it with the app karabiner elements.

once installed, open the app, and go to the "complex modifications" tab. then click "add rule". then click "import more rules from the internet". on the web site that opens, expand "Modifier Keys". import "Change caps_lock key".

that'll give you a rule to do what you want in karabiner. (the rule is "Change caps_lock to control if pressed with other keys, to escape if pressed alone".)