The hjkl keys used in Vim as arrow keys originate from the ADM-3A terminal that Bill Joy used when creating the vi text editor. The position of these keys on the terminal allowed for easy reuse in Vim. Additionally, the ESC key’s close proximity to the hjkl keys on the terminal made it the perfect choice for switching between vi modes. The unique placement of the HOME key on the terminal also explains why the home directory is represented by ~ in UNIX. Furthermore, there is mention of a limited edition hjkl t-shirt that has since sold out.
https://catonmat.net/why-vim-uses-hjkl-as-arrow-keys