How do I swap esc with tilde?

[xtenglong]

I know in Sierra, it allows you to swap modifier keys with esc, but is there any way to swap the escape key with the tilde key?

 

[Zazoh]

Not that I can find, there are applications that do it though, maybe, something like this?

http://lifehacker.com/5882684/the-best-keyboard-remapper-for-mac-os-x