When typing a command with ":" in Vim, I often find myself hitting escape and/or trying to navigate with h,j,k and l or trying other vi-style key combinations to edit the command I am writing. I have configured readline to use vi-style line editing so that when editing at the command line in e.g. bash or R, escape gets me into the equivalent of vim's normal mode. This does not work in vim command mode. There, escape gets you back to normal mode for the the text file you are writing, not the command you were editing.
Is there a way to get vi-style line editing in Vim command mode? If so, how?
I understand that escape should get you back to normal mode in the buffer, not in the command line, but maybe there is another key?