We purchased a 2010 Escape and have benn towing this vehicle since. Prior to doing the first tow I took the vehicle to a Ford Dealer in FL and had them get the Escape tow ready. Here is the process the mechanic told me he went thru.
1, Had to get the Transmission temperature up to 185-190 degrees - then drain the transmission fluid to the designated level set by Ford.
2. After draining to set level he did a road drive getting the transmission fluid back up to the designated temperature and did a double check to make sure that the fluid level was set properly.
Since that time, we have managed to tow the Escape over 15,000. Out total mileage is 32,000 and the tow miles are NOT ADDED. Just make sure that when you do get ready to tow, you follow the instructions as set in the Owners Manual prior to tow.
Hope this helps.