How to prevent Zoom from hijacking the "Escape" key during screen sharing with meeting controls hidden?

In Zoom Screen Sharing, there is a "meeting controls" window by default, which can get in the way. It is possible to hide it with the ⌘ Command^ Control⌥ OptionH keyboard shortcut, which is nice. However, if you press the Esc key at any time during the screen share (for example, to stop editing in Vim, or un-focus an input field in a web form), Zoom will show the meeting controls again _and steal window focus_, which is quite disruptive. Zoom does not seem to offer any settings to disable this behavior. Relevant Zoom community forum post here: How can I disable Escape key binding in Zoom? Is there a way to prevent this, perhaps with a tool like Karabiner-Elements? I think what I want to do is prevent Zoom from listening to the Esc key when I am focused on other windows.