We have one also, one of the very first. It drives great, but the newer ones have a 6 speed transmission vs the 4 speed and an extra 40 HP from the V6, so it scoots. I would not hesitate to tow at its 3500-lb tow rating. Only problem has been a loose rear door seal (replaced under warranty) and broken rubber PCV elbow which I did in the driveway.
I had one customer with a newer Escape Hybrid. She towed a 19' tandem axle full-width TT. She was about 5x over the tow rating (5k trailer vs 1k tow rating on the Hybrid) and as of 80,000 miles she had zero issues with it.