Aside from the advice mentioned (I bind caps to escape), I find that beginners use escape waaaay more often than is necessary because they aren't using all the commands at their disposal. For example, entering insert mode to delete some characters instead of using d+motion or x. Or entering insert mode to add indentation instead of using the = operator. It would take too long to enumerate all the cases where there is a much more streamlined way to perform an operation than entering insert mode, but I think this would explain the difference in experiences between people that may have used longer and aren't bothered by escape-use frequency and newer vim users.