I've already tried mapping a different shortcut to the "Exit Full Screen" menu item in System Preferences > Keyboard > Shortcuts > App Shortcuts but hitting ESC still exits fullscreen mode in any application.
This is mildly infuriating since escape is used in some applications for other purposes.
Click the Applications Shortcuts icon in the left hand column. Choose Safari from the drop down menu of offered applications (looks like the default list is applications which have been opened in the last three months). Enter the exact name of the menu item you wish to disable. In this case "Exit Full Screen".
To stop using the app full screen, move the pointer to the green button again, then choose Exit Full Screen from the menu that appears or click the button .
Download Karabiner, a keymap remapper tool for Mac. There's a 'template' for what you want: https://pqrs.org/osx/karabiner/complex_modifications/#safari
It disables the escape key in Safari only - exactly what you need... Or remap the esc key globally for all apps.
Works like a charm.
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