The Smart Keyboard Folio of my iPad doesn’t have a physical Esc key. However, in the Portuguese layout, there’s a key to the left of the “1” key that has no use to me within Dorico. However, any shortcut that I apply to UI>Esc doesn’t work. It only actually works with the system-wide Esc key, which doesn’t exist by default.
The only workaround is to assign the Esc key to another modifier key system wide, like the Caps Lock or the Globe key.