I can't see a way to remap the arrow keys within MacOS but I found an app called Karabiner Elements that can do it. Of course remapping the arrow keys to WASD means they no longer function as arrow keys and so can't be used to navigate menus. In Godot navigation between UI elements is set-up by default to use the arrow keys, so that normally works in all Godot games even if the dev didn't specifically intend it to. I'm not familiar with how Unity and other game engines handle keybinds but I guess they don't have similar defaults set.
Using ESDF would make more sence for touch typists but I think many computer users aren't trained to rest their fingers on the home keys. For whatever reason WASD became popular and now we're stuck with it!