The modal aspects are there, but my experience has been that 80% of my editing time is spent reading and finding the right place to put something, and the default when opening a file is reading to find the right spot. Further, switching from read mode to write mode is often done with different purposes, and vim lets me express those different intents when changing modes (insert here, replace this word, replace this line, etc).
I think there is probably a little bit of changing your workflow, but for me it's been largely about learning how vim fits my workflow.
This can be solved by remapping ESC to Capslock.
For example, I have jj and jk mapped to ESC. So I just tap j twice while in insert mode, and it switches to normal/command mode. If you find yourself needing to type jj or jk often in insert mode, just pick other letters that make sense for you.
To use mine, plop these in your .vimrc:
inoremap jj <Esc>
inoremap jJ <Esc>
inoremap jk <Esc>No doubt, becoming proficient in vim is a big commitment that you really have to work at. Personally I think it's a great editor though.