A lot of people on here are mentioning some super light extremely small trailers here. There is nothing at all wrong with those trailers. However, it was my understanding from the original post that you wanted to full time in this camper for 5-6 years. You will have to make a compromise either way you look it at. Be comfortable in a larger trailer that has the layout you want and sacrifice the tow vehicle for something that would work OR sacrifice the trailer and get something incredibly small and lightweight that can be towed behind your Escape.
That is what it pretty much boils down to. There is already enough opinions on this board now it is decision time. Pick one :D
Edit: Maybe I misread the first post. You mentioned you had a dream of living in a trailer for 5-6 years. Did you mean that you dreamed about living in a trailer for the last 5-6 years OR you are dreaming of living in a trailer for 5-6 years as in full timing? Either way you've mentioned that you want to LIVE in the trailer on not occasionally take camping trips.
My vote would be to ditch the Escape and get bigger trailer to LIVE in and be comfortable in your living space. After all if you are LIVING in the trailer than most of your time will either be out doing stuff or inside the trailer. Small amount of time driving in the Escape from place to place compared to LIVING in the trailer.
