I have the Mazda Tribute (2001) which is almost the same, but better, IMO. I test drove both and felt that the Tribute had a much smoother ride than the Escape which is what made me choose the Tribute over the Escape. I'm really pleased with my baby - she has been great. We helped my friends move this past weekend and with the rear seat folded down we were able to do the move in 1.5 trips rather than 2 or 3 trips like it would have taken with just their cars.
I'd recommend test driving both and then deciding.