I've yet to come across something with vim bindings that lacks a .vimrc where you can map 'jk'. Either way, switching back to ESC is as annoying as it is in the first place.
Well I have given at least one example. Do you not use bash/zsh/fish/nushell vi modes ?
Claude's vim bindings don't support ESC mapping, unfortunately for muscle memory. https://github.com/anthropics/claude-code/issues/25306