Perhaps the newer Escapes are different, but the '04 model I own states the 4wd version can ONLY be towed on a roll-back. Towing with both or one axle on the ground can damage the drive components. If you do a search over at
www.escape-central.com you'll find references to individuals that did sustain damage after being towed on the ground. In one particular incident, I remember the owner saying he told the tow truck driver that the vehicle needed to be towed with a roll-back. The tow truck driver said he knew what he was doing and towed it with the rear wheels on the ground. In the end, the towing company paid to repair the damage to the Escape done by the tow.