This can be done in code, using

plt.rcParams["keymap.quit"] = ['ctrl+w', 'cmd+q', 'q', 'escape']
plt.rcParams['toolbar'] = 'None'

or system-wide, by adding this into file ~/.matplotlib/matplotlibrc:

keymap.quit: ctrl+w, cmd+q, q, escape
toolbar: None

See all the params the file can contain here: https://matplotlib.org/stable/tutorials/introductory/customizing.html#matplotlibrc-sample

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