A couple of FiberglassRV forum members tow Scamps and Casita with that vehicle.
Page 2 of FGRV.com thread Being from MN, I'm sure you know that these trailers are more rounded, more narrow, shorter, and thus more aerodynamic than the average boxy TT. Wind resistance is a huge factor when towing; it's easier to tow a 3000 lb popup than a 1500 lb conventional TT or cargo trailer.
Another factor to keep in mind is the hitch weight, max 350 lbs. Shoot for a trailer with a dry hitch weight of 250-260 lbs or less, so when you load it up with LP, battery, water, etc. the tongue should still be less than 350 lbs. (This lets out the Casita 17' with front bath because it's too nose-heavy.)
As long as you don't want to push the Escape hard up hills and you keep your speed down to around 60 mph or so, it should do fine with a FG egg or a popup of reasonable weight and balance. Pushing it too fast generates heat that can damage a transmission.
I towed a 2700 lb 16' conventional TT as well as a 2200 lb 17' Burro all over the place (including Rocky Mtns) with a Toyota Highlander and it did well enough; my V6 had about 30 more HP but about 25 lb-ft less torque than the 2L turbo.
