Move Escape key on Touch Bar
There’s no native way to move (or adjust the sensitivity of) the escape key on the Touch Bar. 

Some potential solutions:


Upgrade to a new MacBook with a physical ESC key
Use Better Touch Tool to temporarily hide your entire Touch Bar (solutions below)
Use an external keyboard


Using BTT to hide the Touchbar

This solution was posed in a BTT GitHub issue:


  
  Uncheck "Show MacOS Control Strip" and "Show Escape Button" in general touchbar settings.
  Create a button with no action and put a bunch of blank spaces in the name and make the button black (this moves the button you'll
  create in the following step over to the right so your pinky won't hit it).
  Create a "Toggle BTT Touchbar" button with "Toggle BetterTouchTool Touchbar" as its action. This let's you get the standard touchbar back if/when you need it.
  


This solution is from the Apple discussion board:


  Click "TouchBar"  Click "General Touch Bar Settings"  Check "Enable
  Touch Bar Support"    Uncheck "Show macOS Control Strip"  Check Show
  "BTT icon in Control Strip"   All Other items are unchecked   Click
  Close     14  ￼   Click "+ TouchBar Button"   Give the button a Name...I
  chose "Unhide the Touch Bar with Satan Spawn ESC key" For "Predefined
  Action:" choose "Toggle BTT Touch Bar” ￼    Click "Advanced
  Configuration" for the button and choose where you want it to
  appear...I chose the right side for "Item Placement..."   ￼   Now my
  Touch Bar looks like this:   ￼   With nothing else on the Touch Bar:
  ￼
    This Touch Bar persists across all apps. If I tap the button, the
  regular Touch Bar returns


NOTE: You may also need to hide the BTT icon in settings, as it will replace the ESC key when the Touch Bar is empty.