I don't want to rain on the OP's parade,but you have a lot to learn. If you have been researching your dream for years you missed a lot of info.
Research tow ratings. Understand what GVW,GVWR,hitch rating,tow sating,CCC,Axle rating.
Your Escape isn't very capable as a TV (tow vehicle) However there are small more capable vehicles.
Your dream can be realized but you need to go back to square one. At this point I admire your spirit,but you are lacking in knowledge and understanding.
Fortunately you can gain the knowledge,however and adventurous spirit cannot be taught.Research a small self contained trailer that will fit your needs. Then find the proper tow vehicle to pull it.
You will need to understand the acronyms above to match your truck and trailer.
Realistically your Escape is out but you can find a small cab vehicle to pull a small trailer. Keep in mind a bigger vehicle will be more capable.
There are weights and physics involved that you will need to understand if you want to travel in a safe relaxed fashion vs. a white knuckle experience.
Take a few steps back, and bring yourself a bit more up to speed. You have the spirit but you need to do a lot more homework before you set out.
Unless you have money to burn you need to get things right the first time.
Getting it right the 2nd time involves trading in vehicles and making major repairs. You want to avoid that scenario.
Getting a properly matched combo is a big part of the equation.
Don't fudge your way through this process. Setting out with a poor RV combo will only come back to haunt you down the road.
I don't want to discourage you but I simply want to make you aware you currently lack the knowledge to succeed. Keep reading, keep asking questions,gain the knowledge. You have the spirit now you need to get a thorough understanding of cross country RV'ing and the challenges involved.
