According to the 2002 Ford Escape owners manual ( Motorcraft MERCON automatic transmission fluid ) is used as the power steering fluid
The engine should be hot and idling in park.
Mercron v auto transmission fluid
The 2002 Ford Escape has a 5-speed manual.
Look in the manual
You need the machine that pumps new transmission fluid in and the old transmission fluid out like a shop or Ford dealer has
transmission fluid level and what brand should I use in it
In a 2002 Ford Taurus the type of automatic transmission fluid to use is indicated on the automatic transmission fluid dipstick or the dipstick handle
According to the 2002 Ford Escape Owner Guide : ( DOT 3 brake fluid , meeting Ford specification ESA-M6C25-A )
The 2002 Ford Taurus Owner Guide shows : Motorcraft MERCON-V automatic transmission fluid
Starting in 2002 the Ford Explorer ( four door ) does not have an automatic transmission fluid dipstick
Starting in 2002 the Ford Explorer 4 door does not have an automatic transmission fluid dipstick