I currently use a Matias Pro. It has an Esc key, but the truth is I'd like Esc as close as possible. I've experimented with CapsLock as Esc but I prefer CapsLock to swap languages, which I also do often.
Ah, the troubles we go through for the perfect HID!
You would use their agent software:
https://github.com/UltimateHackingKeyboard/agent