There's no way for a LOTRO plugin to do this, since plugins don't get loaded until after you log in a character. However, I'm confused as to why you need this. When I don't touch anything after selecting my server, it takes around 30 seconds for me to get to the character selection screen. If I do the double-escape key, it takes 10 to 15 seconds... but if I'm not present to press Escape then the extra 15-20 seconds don't seem relevant. And if I am present and want to speed up the process, then I press Escape.
However, you could write a small program that looks for the LOTRO client launching, waits ten seconds (or however long on your system), and then sends the Escape key to the LOTRO client twice.
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