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Faster and more convinent than [Esc]
There are 9 alternatives - vote for the best!
If you can do better, submit your command here.
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This is IMHO not really useful in Vim but YMMV.
However, this tip is best used with screen for the copy-mode (i.e. scrollback):
CTRL-a CTRL-[ is much easier to type than CTRL-a .
You can remap whatever you like to [Esc] in your ~/.vimrc
imap jk <Esc>^[ is Escape pretty much everywhere. See man ascii or the Wikipedia article on ASCII.
I decided to just outright switch Caps Lock and Escape on my keyboard. It's even easier than regular Escape and Ctrl-[
I have this in my ~/.Xmodmap
! Swap Caps_Lock and Escape
remove Lock = Caps_Lock
remove Control = Escape
keysym Escape = Caps_Lock
keysym Caps_Lock = Escape
add Lock = Caps_Lock
add Control = Escape