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Karabiner-Elements is a macOS utility for keyboard customization. I've been using it for years. It uses a verbose JSON configuration which can be painful to work with.

Goku lets you use the edn for configuration, which makes it a lot easier.

Here's a quick sample for one of the most common Karabiner use cases:

{:des "caps_lock to esc when pressed alone, to ctrl as modifier"
 :rules [[:##caps_lock :left_control nil {:alone :escape}]]}