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9.10 What if I don't have an <Escape> key?

Type C-[ instead. This should send ASCII code 27 just like an Escape key would. C-3 may also work on some terminal (but not under X). For many terminals (notably DEC terminals) <F11> generates <ESC>. If not, the following form can be used to bind it:

     ;; F11 is the documented ESC replacement on DEC terminals.
     (define-key function-key-map [f11] [?\e])