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Thanks for "export KEYTIMEOUT=1"!

I use https://github.com/robbyrussell/oh-my-zsh which has a nice vi-mode plugin, built in indicators like you mentioned too

KEYTIMEOUT is in hundredths of seconds. So this sets it to 0.01 seconds, not 0.1 as the article claims.
For those of us still using bash, "set -o vi" is analagous. I would be interested in hearing about customizing it in ways like this article.
For highlighting that you're not in vi insert mode, try using an emoji (e.g. high voltage sign: Unicode: U+26A1, UTF-8: E2 9A A1) instead of [NORMAL]. It works in iTerm2 on Mac OS 10.8. Can't vouch for other OS/terminal combinations.

RPS1="${${KEYMAP/vicmd/⚡}/(main|viins)/}"