I would not be overly concerned either.

Moving with the brake on just means your motor had to work a little harder to overcome the friction of the brakes.

It also sounds like it was a really short distance, less than a tenth of a mile, right?

Manufacturers know stuff like this happens all the time. If the cars couldn't take it, they wouldn't sell many cars, now would they?

This is probably not even your case, but in the case of the Ford Escape, if the parking brake is applied firmly, it does not always release 100% when the hand brake is released.

If you think your brake is dragging slightly, apply the hand brake only part way and release it... and then drive a little forward and reverse to make sure the parking brake is totally "loose".

I'm 99.9% sure no damage could be done during such a short distance, and at such slow speeds.

Take Care, and what kind of mileage are you getting?
-John