I use Vim with a MBP Touchbar. A half decade or more ago I swapped caps lock and control, I then started using 'ctrl-[' as escape. This is the actual escape code for the 'esc' key. Super easy to press, just uses both pinkies, and it doesn't require stretching for the escape key.
Maybe everybody has stopped using vim, but it's my bread and butter and I cannot imagine using anything else. Even gvim is not good enough. It has to be vim and it has to have my settings in the rc file. Expecting me to pay thousands of dollars and then having to remap ESC is a ridiculous joke.
Touch bar + vim user here. I simply tap the area I usually would and it works. It doesn't bother me. If I was still an IntelliJ user, with default shortcuts using fn keys, it would bother me, but I'm not.
What does annoy me is that there's no way to disable it on the fly. For example I often drag-select the paragraph I'm reading and Preview changes the Touch bar every time I do with highlighting options. It's distracting at the exact moment I'm trying to focus on what I'm reading. I've had to shift reading to a tablet.
Other than that I'm pleased with the Touch bar. I think the sound and brightness controls are easier to use than before. I appreciate the TouchID.
It turns out that the little space to the left of the virtual [esc] is a "ghost key" that also registers as Escape (just like the hidden t/g/v/y/h/b keys on the split iPad keyboard), so I just put blindly put my finger on the left side of the touch bar and every time it does the right thing.
I've never had the touch bar malfunction, nor do I find it distracting or too bright at night, even on a lakeside dock in cottage country.
I agree, though, that occasionally I will switch the input language to French due accidentally hitting the the bar. It's too sensitive.
The biggest surprise for me, though, was that I don't miss the physical F keys nor Escape, even a little bit.