There are at least two 4Runner & two Tacoma owners that we know of saying that "you an do it but...." when it come to pulling serious grades with a 21 other than bringing a new trailer home to Florida or similar. I remember being mad at my longtime mechanic when he said I wasn't doing my Murano any favors pulling a 17B. He was right, and it wasn't doing me any favors either.
I would advise saying away from the Ford Escape. We had a 2017 and gave it back for an Explorer. The Escape is small feeling, a bit squiggly, and a bit gutless. Just my recent experience.