Hmm, I think I've never used my ESC key when using Emacs, I bind Ctrl to Caps-Lock and call it a day.
BTW, I also frequently (~3-4 times a day) use vim, and I never found it hard to edit with the Touch Bar Esc key. I can find the Esc location without looking, I'm pretty sure anyone can do that. It's just simple: just press the most left part. The non-display part left on the esc button display also works as the esc key, so no problem with that.
(Yes, and that's why I believe that people who hate the Touch Bar b.c. of the no Esc key have never used the MBP. It's really a non-issue.)