The Escape is not really that high off the ground.
Interesting that you bring that up, both the new Escape and new Outback have 8.4 inches of ground clearance, which isn't half bad for a vehicle of that type (More than the comparable CR-V and Rav-4). Surprisingly, it isn't even much less than an Explorer or Expedition 4x4 at 8.7".
With that said, they all still fall short of vehicles made specifically for true off-road/prerunner use. For example, vehicles like the Wrangler, Hummers, FJ Cruiser, and Ford F150 Raptor have around 10 inches of ground clearance or more out of the factory.
All in all, good luck with your Escape IronRaven! Hope it treats you well.