You can somewhat work around this using Karabiner Elements. I map caps lock to esc (when tapped) and ctrl (when held) with a 'complex modification' rule that looks like:

    {
      "description": "caps_lock to left_control or escape",
      "manipulators": [
        {
          "from": {
            "key_code": "caps_lock",
            "modifiers": {
              "optional": ["any"]
            }
          },
          "to": [
            {
              "key_code": "left_control"
            }
          ],
          "to_if_alone": [
            {
              "key_code": "escape"
            }
          ],
          "type": "basic"
        }
      ]
    }