You could start the command by inserting a character and delete it after
you get back in insert mode:

:inoremap <c-d> _<esc>viwU<esc>gi<bs>

Also, the second esc is useless since pressing U should take you back to
normal mode:

:inoremap <c-d> _<esc>viwUgi<bs>

And, although it's not wrong to go into visual mode to set some text
uppercase, it's interesting to know vim has normal mode commands to
change the case of letters. For example, to set the current word to
uppercase, you could use gUiw. For more informations: :h case

Youen

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