If you're willing to deal with a semi-tight polling loop (10-250ms I'd guess) 
you could use XQueryKeymap():
http://ubuntuforums.org/showpost.php?p=2901208

This seems to bypass XGrabKeyboard() pretty well in my testing.

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keyboard shortcuts do not work when a menu is open
https://bugs.launchpad.net/bugs/32860
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