The weight you quoted is the dry (empty) weight as it came from the factory. It will weight more than that even as it leaves the dealer sales lot! When on the road with your gear, food, beverages, etc in the trailer it will be closer to its 3500 lb max gross weight. Meanwhile, the Escape is loaded down with you, your family, the heavy WD hitch and the trailer tongue weight. All that stuff decreases the available towing capacity somewhat. I agree with the others - your Escape is going to be heavily loaded and marginal at best.
Personally, I would not attempt it. Trade up to an Explorer or look at smaller & lighter pop-up trailers. A trailer with a GVWR (nor dry weight) under 3000 lbs would be suitable to tow.