Remapping takes less than 5 seconds in MacOs and Linux. 2 minutes in Windows. And you only have to set it up once.
Also my left pinkie never misses CapsLock and I don't even have to think about it. Can't say that's the case for Ctrl+[ which I have used extensively for one year. I am really happy I switched.
But frankly I don't use Ctrl that much. Ctrl + L/K in Firefox (I use vimium but I prefer the native bar) And I have Ctrl + J/K to switch terminal tabs In vim I only rarely use Ctrl + I/O
Additionally, I use Ctrl outside of vim very frequently as I keep my terminal key bindings native, which means all of the command line control patterns use Ctrl (jump to front, jump to back, cut (forwards/backwards), move by word, reverse search, etc etc)
I'm still of the opinion that Ctrl+[ like the OP said would be mentioned is the best because (1) it's native and (2) it uses both hands so it's almost as fast as hitting a single key and requires no hand contortion.
- 14 year exclusive vim user