You are kind of stuck between a rock and a hard place sometimes changing the filter and fluid will help but if it's never been changed with that kind of mileage sometimes it'll get even worse and not even move. I drive the transmission is on its last legs anyway so you might try this drain one quart of fluid out of the transmission and put one quart of Lucas automatic transmission additive and pray

You're describing  "shift flare". Your Escape is disengaging the previously selected gear, but for some reason it's not fully engaging the next gear’s clutch or clutches in time, so your rpms rev up during the delay.

First check your transmission fluid dipstick to make sure you aren't low on fluid. (engine running)

Then check for transmission codes. It may be trying to tell you what's ailing it.

The insidious thing about "shift flare" is that it quickly starts causing "clutch friction material" to be shed into the transmission and then valves and the filter get clogged up, reducing pressure and causing even more slippage and more "clutch friction material" shedding into the transmission.

You have a high mileage Ford and you don't know if the transmission fluid has ever been changed.

The fact that it's "flaring" in all gears seems to point to  fluid/filter contamination which has advanced to the point that it's restricting flow throughout the transmission.

Scotty's right, "you're stuck between a rock and a hard place".

Instinct says, "get that cr*p out of there and change the transmission fluid/filter".

But at that high mileage and not knowing if the fluid has ever been changed before, it would be a risky move even in a transmission that is functioning properly.

Your  clutches are already slipping and that makes it even more riskier. But it might come down to just trying to buy some time before the inevitable.

One thing's for certain. If you don't do anything you're going to be sitting on the side of the road pretty soon.

So under that premise I don't see how it would hurt to drain the transmission fluid, run it through a strainer to determine how much contamination is in it. Maybe even run a magnet through it to remove any metal (if any) from the fluid. (Why not?).

Then, just to remove any large friction material contaminants, run the fluid through a coarse mesh strainer, put in a new filter, and put the old fluid back in with the Lucas additive that Scotty recommended.

Even it if reduces the shift flare, it's probably time to start asking the boss for some overtime hours.

Inspect the transmission fluid first, If it is not dirty and does not smell burnt, just drain and refill it, otherwise leave it alone. It might be the end of transmission lifetime.