You can have the best of both worlds with Karabiner. After remapping caps lock to Control, you can add a Karabiner setting to send Escape when you tap Left Cont

You can have the best of both worlds with Karabiner. After remapping caps lock to Control, you can add a Karabiner setting to send Escape when you tap Left Control. Holding caps lock in combination with another key will still act as ctrl-<key>