I just purchased a 2014 Escape Titanium and I love it. I didn't test drive a RAV4; I am very tall and every time I've ever test driven a Toyota vehicle my head hit the ceiling. Deterred me enough that I don't even bother anymore.
I did test drive the Honda CR-V, the Nissan Rogue and the Mazda CX5. I narrowed my search down to the CX5 and the Escape, and ultimately chose the latter for several reasons:
1) I didn't want a black interior and the CX5 with light seats still had a black dash and carpet. I thought it looked odd.
2) The Ford Sync system was by far the best technology package, and I loved all the outlets (I have 2 teenagers and this was an issue for me.)
3) The incentives were better. I ended up in a Titanium Escape for not much more than a Touring CX5 (to which I would have had to settle for a black interior and pay extra for remote start and Sirius radio.)
I don't know how Toyota compares to Nissan and Honda, but I can tell you for the other 2 makes, they weren't really offering any kind of deals and incentives. The Nissan salesman told me he couldn't keep Rogues in stock and he didn't have to offer any deals. Honda wasn't offering any rebates or special financing on the CRV. I purchased Memorial Day weekend and I got $2500 in rebates, 2.9% financing, and I negotiated the price down ANOTHER $2500 off the sticker. Was very very pleased and got the Escape equipped EXACTLY how I wanted (1.6 liter engine, 2WD, light interior and panoramic sunroof. I didn't really need navigation but they didn't have any Titaniums in stock without it.) If you like the RAV4 and Escape equally, my bet is you can get a better deal on the Escape (though the incentives are not as good now as they were 2 weeks ago.)