Sometimes my muscle memory winds up telling me it needs. That's how I wound up mapping both jj and ;l to Esc. The first gets used when I've finished an insertion and am about to pause to think (it feels more emphatic) while the second gets used when I'm in flow and know exactly what I'm going to do next.

I once read a thread discussing the topic of Esc replacements and was astounded to learn that some people had reinvented chording: they mapped all the permutations of h,j, and k into Esc replacements and then simply banged all three at the same time to exit!