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Break out and escape SSH session

Problem

SSH session is stuck and cannot be exited by entering exit or CTRL+D
And we need to break out this session without closing terminal emulator

How to solve?

Press ~ then press .
Why? Because ~. is an escape sequence that can terminate SSH session
More details:
Supported escape sequences:
~. - terminate session
~B - send a BREAK to the remote system
~R - Request rekey (SSH protocol 2 only)
~# - list forwarded connections
~? - this message
~~ - send the escape character by typing it twice
(Note that escapes are only recognized immediately after newline.)