I use alt-[keystroke], which changes to normal mode and executes [keystroke]. So if the first command I intend to execute in normal mode is simple, I get that p

I use alt-[keystroke], which changes to normal mode and executes [keystroke]. So if the first command I intend to execute in normal mode is simple, I get that plus the mode change in one keystroke. If the command is complicated, I just use alt-l (moves the cursor one space) which I find easier to hit than ctrl-[ or esc. As a bonus, it works in readlines vi mode as well.