Just went through the same brake issue a couple of weeks ago. Get in my car and both the ABS and Brake light came on. I assumed it was time for new brake pads (I'm at 80K miles and still haven't changed pads) and took it to my mechanic, who diagnosed the problem but referred it to the dealer. Turns out it was a corroded connector in the ABS system for the accumulator and/or the actuator. I think they charged me $200 to fix it and it's a fairly common issue on Escapes, hybrid or not.