When we went from a 2 car household to a 1 car household the biggest surprise was how much of a non-issue it was. When we were debating the decision we were trying to tally up all the times that we might want 2 cars (seldom we predicted, but still a couple times/month). In reality once the option was gone we naturally shifted our decision-making so that its a complete non-issue.
Better still, we gradually discovered a series of small perks, like having an extra parking-space for guests and not needing to pay (or take the time) to service and register two vehicles every year.
If you don't need both cars on an almost daily basis (example: two commutes in opposite directions) I'd urge you to sell the Escape. After a few months if you discover you really miss having a second car you can shop around for another used vehicle, and get something which is more fuel efficient. Heck, you could even re-buy another Escape if you really want.
Or put another way, right now you are losing some money each month to depreciation, registration, insurance and maintenance. I'm guessing on a 2013 its around $200/month, or $6 - $7 day (rough estimate). Imagine each morning you took a $5 or $10 bill out of your wallet and tossed it into the garbage disposal - would you keep doing it every day for such a small benefit?