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I use the program "xcape" [1] to map CapsLock to Esc when no other button is pressed and Ctrl when it is pressed together with another button.

Similarly you could remap the Spacebar to e.g. R_Shift with Xmodmap and let xcape emit a Space when R_Shift (which is now the Space bar) is pressed in isolation.

[1]: https://github.com/alols/xcape



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