Who escaped the judgment on the Exodus generation?

Joshua and Caleb escaped the judgment on the Exodus generation, along with Moses and Aaron. The rest of that generation old enough to respond died in the wilderness in unbelief. Only a few survived that judgment, as the passage states.

Les explains that when the text asks how many escaped, the answer is Joshua, Caleb, Moses, and Aaron. But for the most part, that nation that was old enough to respond was totally in unbelief. Les emphasizes that it is hard to comprehend how only a few survived that judgment in their unbelief. He points out that God grieved with them for forty years, and their carcasses fell in the wilderness because they sinned. Les also reminds us that just a few months before, they had engaged in the horrible, immoral setting around the pagan golden calf.

Hebrews 3:16

For some, when they had heard, did provoke: howbeit not all that came out of Egypt by Moses.

Did all the Israelites who left Egypt with Moses provoke God in the wilderness?

No. Hebrews 3:16 states that some who heard provoked God, but not all who came out of Egypt by Moses. The ones grieved were those who sinned, whose carcasses fell in the wilderness, and who worshiped the golden calf. So the provocation was not universal among those who left Egypt.