I can't figure out how to go back to
Normal mode after entering
Escape just doesn't seem to work.
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The answer by @romainl is correct but I wanted to add a bit more info for anyone that may have stumbled on this from google like I did.
Directly from the docs we get this note:
Terminal mode has its own namespace for mappings, which is accessed with the "t" prefix. It's possible to use terminal mappings to customize interaction with the terminal. For example, here's how to map to exit terminal mode:
:tnoremap <Esc> <C-\><C-n>
With that knowledge you will most likely need to create some terminal mappings to stay inline with your current workflow (tab/window movement, etc.)
If you are using Tmux, you may have installed some "vim-like" bindings to move around in the window panes which among other things grab the "C-\" before Vim has a chance to use it. If so, remove these from your
.tmux.conf and restart tmux:
bind-key -n C-\ if-shell "$is_vim" "send-keys C-\\" "select-pane -l"
bind-key -T copy-mode-vi C-\ select-pane -l