All Escapes have Dexter axles with the standard wheel stud for their capacity range, which has a 1/2"-20 thread. The wheels (both steel and alloy) require nuts with a tapered (cone) end to match the seat in the wheel. Fortunately, this is likely the most common inch-sized wheel nut in existence.
In a quick search I found half a dozen discussion of wheel nuts in this forum, none providing any variations on that standard.
You can use a standard star wrench or a six point deep 1/2 inch socket with a six inch extension with a breaker bar and a cheap tourque wrench. The deep socket works well with all lug nuts that size. A larger star wrench is really handy if lug nuts are too tight on your truck or trailer.just my 2 cents worth. The socket doesn’t have to be an impact socket in fact I would recommend against one.