MacOS - is it possible to use esc key to exit full screen?

In Safari, you can use the esc key to exit full screen mode. I am wondering if there is a way to get the Brave Browser (on desktop, macos) to do a similar thing. The current shortcut is fnF which is less convenient.

Thank you for reaching out. Unfortunately I do not believe this is possible without the use of some 3rd party extension that lets you customize your keyboard shortcuts.