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If you search for <Esc> in this part if the readme you will see this https://github.com/folke/snacks.nvim/blob/main/docs/picker.md#%EF%B8%8F-config

-- to close the picker on ESC instead of going to normal mode,
-- add the following keymap to your config
-- ["<Esc>"] = { "close", mode = { "n", "i" } },

So you need to add

["<Esc>"] = { "close", mode = { "n", "i" } },

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