Hey, cool that I've been quoted and someone else pimped my writing! I feel a sense of accomplishment.
๐Anyway- yes. The page that I wrote should help you. The problem with most passenger-type vehicles isn't their towing capacity, it's the payload/cargo carrying capacity available.
To reach that 3,500 pounds of towing capacity - that allows for a 150 pound driver and literally nothing else in the vehicle except for fuel. For me, it doesn't include the
rest of me or the random assortment of carp in the truck or the add-ons that I've added to the truck (bed cover, hitch and then little things). For you - I don't know your weight nor do I know what you'd carry in the Escape with you.
The Escape is going to have a sticker that tells you that maximum amount you can carry. If you're willing, load up the SUV like you were going to go travelling/camping and then take it to a scale to get it weighed. Whatever number that is, subtract it from the "gross vehicle weight ratings" (aka GVWR). That will tell you how much tongue weight you can carry. The tongue weight is usually 10%-15% of the trailer's total weight (as loaded / not the advertised "dry" weight).
NOW- I've learned that many people believe that I'm overly cautious with only looking at the GVWR/payload. Some people choose to look at the tire and axle ratings and decide what they can tow based on them. If they don't exceed those ratings, they're comfortable exceeding the GVWR. Not my way, but many people choose to do so.