Do you have the 3.0L engine? The transmission is the CD4E and the filter is not serviceable or needs replacing unless your rebuilding the transmission. A normal drain and fill of the fluid every 15K is what I do.
Unfortunately on many Fords the transmissions the filter is not accessible without dismantling the transmission If your going to change the fluid just make sure to put the same amount back in that you took out. Good Luck!
Looking for a Used Escape in your area?
CarGurus has 103,947 nationwide Escape listings starting at $895.
Search Ford Escape Questions
Ford Escape Experts