An Escape can weigh 32-3700+ lbs, depending. Add the dolly and things get really close or over. Two of my brothers flat tow Chevy Trackers. One has a 93 Dodge Roadtrek with a 318 on a 1 ton. Takes him a bit to pull a grade but it gets it done. The Tracker weighs about 2600 and he is flat towing, so no dolly weight.
Watch the trans temps.
2000 Roadtrek Chevy 200 Versatile(sold)
'98 Safari Trek 2480
'15 Kawasaki Versys650LT
Perfection is a fantasy, though improvement is possible(Wifey).