No sure on the escape, but many vehicles that are 4wd/awd can be towed 4 down but not on a dolly. You could always unbolt the rear driveshaft from the pinion yoke, but I am guessing you don't want to do that.
Is it all time awd or does it have a 2wd function? If no 2wd, answer is no.
2010 Cherokee Grey Wolf 28BH
86ish palomino slide in
2000 F250 superduty 4x4 7.3/6speed crew/ short