Check the upper and lower intake gaskets. They are known to leak on the V6 engine. I would recomend replacing them as they are only about $15 or so for the parts.
Fuel Pressure
Actually, the ford escape has a factory recall on the ABS. (anti lock brake system). Take it to your ford dealer and they will fix it for free. Low brake fluid
The battery light tells you the system is not charging, if it comes on at idle or low rpm it is likely a weak or failing alternator. The idle being too low can also cause it to come on.
Correct the tire pressure.
if it hits 300rpm its to low u mean 3000rpms
There is a recall, has do to with a speed sensor
Low fuel pressure.
advance your timing
A Ford Mondeo shakes at a low speed most likely due to warped rotors. When rotors are unevenly worn the surface area will not remain balanced. This then results in a shaky ride.
Your 2001 Ford Escape could be cutting of for a number of reasons including, low on fuel and a bad motor. You should have your truck towed to a garage to have it checked.
In a 2005 Ford Escape , in the Power Distribution Box in the engine compartment , R6 is relay # 6 , it is the blower motor relay ( a relay is a low voltage switch )
It will idle as low as 600 rpm.It will idle as low as 600 rpm.