Remapping CapsLock to Ctrl on Windows is easy with KeyTweak (what I have is 2.3.0 by Travis Krumsick), though I had to select the CapsLock key from the displaye

Remapping CapsLock to Ctrl on Windows is easy with KeyTweak (what I have is 2.3.0 by Travis Krumsick), though I had to select the CapsLock key from the displayed keyboard rather than simply hitting the key. All it appears to be doing is updating the Registry's key mapping values based on the keyboard scan codes. Easily found with a simple search, and it does work on Windows 10 even though it hasn't been updated for 8+ years. I suspect you'd have to switch to something like Autohotkey for the Esc/Ctrl mapping.