While there is no issue with the Escape handling the weight of the bikes, one does have to watch that there is still adequate hitch weight. I encountered similar issues with my 19 and 2 bikes on the back. It was not too bad, but noticeably different than without the bikes.
2017 Escape 5.0 TA (someday soon, I hope
2015 Ford F150 Lariat 3.5L EcoBoost
2009 Escape 19 (previous)
“Most folks are about as happy as they make up their minds to be.” — Abraham Lincoln