I have twenty... seven, Jesus. Twenty seven years of muscle memory with VI. The only keyboard I can't 'vote with my feet' on is the built-in one on my laptop. As a result I'm hardly ever using my laptop untethered now. I don't think I've ever owned a keyboard I've typed less on than the touchbar macbook. Which means I'm barely using them as laptops, which is a little depressing.
Other people argue that all real vimmers use ctrl-[ instead of escape.
Edit: This is on a 2015 macbook pro, that still has the physical function keys. I almost never use the physical escape key, just capslock instead.
It's probably largely a relic from typewriters when it was originally something of a mechanical necessity and then made more sense than today in the context of filling out forms etc.
But TBH, I use so many different systems these days that I pretty much just accept that keyboard layouts and keyboard feel are going to differ from machine to machine and there's no point fussing about it.
Personally I'm in the Caps to Ctrl and use Ctrl-[ for escape camp. Works in my shell, REPLs and in my database clients and anywhere else with a readline interface that isn't Vim.
Even with that I still want a physical escape key.