Part of the vim cult's belief is the Never-Leave-Home-Row. That is, where you first rest most of your fingers on the asdfjkl; keys. Your hands are 99% of the time if you're not actively typing in the document. If Vim didn't have modes then you'd have to drop this concept. But of course, mistakes in vim don't normally result in dozens of people dying. If something happens that I didn't expect I just glance to the lower-left corner of my terminal to see what mode I'm in.
A common path to fluency with vi is to live in command mode. When you type something, immediately press escape out of habit. When you want to type something new, develop a habit of pressing a/i/o with confidence that you're already in cmd mode.
If you find yourself navigating in insert mode, that's a red flag.
I find vim's shorthand notation for commands far easier to deal with than emacs's long alt-meta-command constructs. After a quarter-century, I've pretty much got over the weirdness.
Secondly, its commands are modal. When you begin a command with Meta-X or Ctrl-X, Emacs goes into a different mode: the next character typed will not self-insert.
All command parsing is modal.
Are you sure? Consider the way command lines are executed in Plan's Acme editor: you drag the pointing device to select the text you want to execute, then you click on the selection with the middle mouse button. (Alternatively, drag with the middle mouse button, then release that button.) There is an one-line-high area (called the tag) at the start of every editor window for typing in commands when you do not want the typing to mess up the buffer (the in-memory copy of the file being edited) itself.
A switch built into the chair seat which generates ESC when the user gets up could be useful, though.
On a Mac, the keyboard preference pane in system prefs has a "modifier keys" section, which is bizarrely separately configurable for the built-in keyboard vs. a USB keyboard on their laptops. On Linux, the configuration is different for the VT vs. window managers.