I've not seen an Escape specific inspection list, however there are many generic ones out on the internet, just do a search. Personally, I'd be concerned with the big components that are difficult or expensive to repair or replace, and look it over for water leak damage. The latter thankfully being rare on an Escape.
Here's a list from over on the fiberglass rv forum. http://www.fiberglassrv.com/forums/d...?do=file&id=72
There are 2 gens of Escapes, the new body style started in late 16 when it was optional, and standard in 17.