Force quit on a MacBook that uses a touchbar
You can use Karabiner to customize shortcut on your keyboard as you please, give it a try ! 

You can remap the Esc key to another key or combination or just add another force quit rule than Command+Option+Esc (like Command+Option+Q).

From Karabiner Manual :

Change a key to another key

You can change a key to another key in Simple Modifications tab. 


Step 1 : Choose target device, then press Add item button.







Step 2 : Select From key and To key.





Step 3 : Confirm the result in Karabiner-EventViewer.


Use more complex rules


Step 1 : Open Complex Modifications tab and press Add rule button, then press Import more rules from the internet button.







Step 2 : A web browser is opened. Press Import button in the page. A confirmation dialog is shown. Press Allow button. 









Step 3 : Karabiner-Elements is shown again. Press Import button, then new rules are imported. Press Enable button. 







Step 4 : New rule is enabled. Confirm the result in Karabiner-EventViewer.