Just had the same problem with a 2009 Escape V6 during a 1400 mile trip.
I had towed it on 2 previous trips that were about 200 miles round trip each with no noticeable problem. This trip I noticed transmission fluid on rear window at our first destination after about 5 hrs. of towing. Took it to a local Ford dealer and they checked it, filled it up with fluid and sent me on my way. The next leg was about 5 hrs. and it blew fluid out again. Had a local Ford dealer fill it up again. The final leg home I ran the engine and circulated the fluid after 2 hrs. of towing and no problems. Traveled another 1.5 hr. and stopped in a rest area. I checked the car and it had fluid on the back again. This time it would not start and the transmission was very hot.
I now have a new transmission. The dealer found that the transmission dipstick was marked wrong and it caused the mechanics to overfill the transmission every time. They suspect that the excess fluid would cause foaming and the lubrication would fail due to the foaming and blowing out excess fluid. This left us with a cooked transmission.
I'm curious if anyone else has had this problem and if the new transmission fixed the problem.