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RMC in an open area of any tool bar. Select customize then keyboard. You can now set any available command to a key stroke.
Andrew, rebuild will exit the sketch as you are saying. And rebuild can be mapped.
In addition to Troy's message, if you need a quick way of exiting a 2D sketch, you can double click on the screen background. You can enter it again by double clicking any sketch geometry. Enter or Esc should get you out of most feature commands.
GREAT... I already had rebuild mapped. That is all I needed.