I would be leery of applying concentrated loads from kneeling or standing on any FG trailer lid. I suppose some of the more "square" shaped eggs have plywood backing, so that would allow walking around up there. I have accessed my Scamp lid with ladder placed almost touching the side, and reaching out with a power rotary buffer to apply rubbing compound and then hand wax for protection. The Scamp may be a little narrower than the Escape. Using a pole like Donna suggested would give you all the reach you would need in any case.
Off the subject, but may be of interest. Newer trailers that still shine can be protected with wax to help the finish last longer. Older oxidized ones will need to be rubbed out with compound to restore some gloss, then protected with wax. The wax alone will not provide a lasting shine. Wax rarely lasts more than a month when outdoors in the elements, so easily applied products are a winner.
Square shaped eggs?