There is a pretty comprehensive list of maintenance items to check in the Escape Manual (things like bearings and tire wear).
I'm a pretty lazy owner
so my Escape is lucky to get washed a couple of times a year - and it seems to take forever - a half day easily.
Winterizing is easy once you do it once or twice - less than an hour. Maybe an hour if I include emptying it out for the winter (I usually bring in towels/bedding and food). Likewise, getting ready for the first trip in the spring is about an hour - flushing the antifreeze, etc is very quick; restocking - keep everything in one location in the basement so it's just a matter of hauling it upstairs. I have a list of food staples that I just restock from my kitchen.
Between trips is minimal if you stay organized. I have a list of stuff to remove and clean (and remember to replace) after each trip. I clean the interior after every trip (in the Northwest, it's always wet and muddy). I have a list of food staples to check and refill when necessary.