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If the CMD + period solution is a bit too cumbersome for you, iPadOS allows you to remap physical hardware keys to have the same functionality as an ESC key would. Here’s how to make this change:
Open the Settings app
Tap General
Tap Keyboard
Choose Hardware Keyboard
Look for the Modifier Keys option
Open the Settings app
Tap General
Tap Keyboard
Choose Hardware Keyboard
Look for the Modifier Keys option