Not about Vim exactly
I completely agree with fishdicks who wrote in comments:
Terminal vim on the other hand seems to be unfixable, because Escape is not really a key in UNIX, and I can't rightfully imagine what the hell the guy who wrote vi was thinking or how the hell in the following thirty years no one noticed that something is terribly wrong and proposed an escape code for literal escape or something.
It's a weird thing about UNIX, like, people say that it's a beautiful system loved by discerning hackers, and then you stumble on something utterly retarded like that, and the weirdest thing of all is how no one else cares or even notices. As if having to press Escape twice to close various dialogs in midnight commander is the most normal thing in the world.