There are several vim clone packages for Emacs (Evil, Viper..). These packages have a special built in functionality where they remap the Escape key for tty users. I'm not sure how this is done (With a timeout?).
I'd like this functionality as well however I don't want to use the entire Evil / Viper package, I only want the Escape key functionality. This is because I use God Mode, basically Vim's normal / Insert mode with emacs keybindings instead. It doesn't however have a solution for the TTY Escape key like Evil / Viper do. My Elisp isn't really good enough to implement this myself.
So if there is a stand alone package for the escape key issue I'd love to hear about it.