Remove Escape on TouchBar in Safari

The question "How to disable Escape key in Safari" was asked here a few times. Now since on the new MacBook Pros the Escape key is a touchscreen button, it is much easier to press it accidentally, but there is a good chance we can actually remove it in Safari once and for all.

How to remove Escape button from TouchBar in Safari? (or any specific app)

There is no such option in Customize Touch Bar... menu:

You can use Karabiner-Elements [1, 2] to map escape key to some other functions with visual feedback (e.g. mute). The feedback helps to remind you that the key is not longer mapped to escape.

You can then map a less useful key to escape. For e.g. on a US keyboard, the section (§/±) key is on the top-left corner where escape key could have been.

1. Install and run Karabiner-Elements.

2. In Simple Modifications, choose No product name (No manufacturer name) as Target. That's the touchbar. Then add item, from escape to mute.

3. To map section (§/±) key to escape, choose Apple Internal Keyboard. Add item, from non_us_backslash to escape.

Source

Try using BetterTouchTool,

click on the 'Keyboard' tab ('Select Application' should be set to 'Global'), click on '+ Add New Shortcut or Key Sequence' click on the field and press the 'Shift-Escape' keys, a ⇧⎋ should appear move to the right where it says 'Trigger Predefined Action' and choose: 'Keyboard keys/ESC (Escape key, respects pressed modifier)'

We've just created a substitute for the 'escape' key. Now we need to disable it.

click on '+ Add New Shortcut or Key Sequence' click on the field and press the 'Escape' key on the Touchbar, a ⎋ should appear move to the right where it says 'Trigger Predefined Action' and make sure it reads: No Action

I like this way more than deactivating the entire TouchBar.