[belovedeagle]

jj = <ESC> changed my life; I'm not even joking. I even went so far as to put my zsh in vi mode and added jj there too. (WARNING: doing this will result in a pathological need to type jjk whenever you open a shell to start scrolling through history.)

[arrc]

I prefer mapping <ESC> to <CAPSLOCK>. Hitting single keystroke. I quickly got tired of hitting 'jj' every time I need to escape.

[Rainymood]

I personally use 'kj', which is just a natural roll from my middle to my index finger. Have you tried this?