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.
The 2002 Ford Escape has a 5-speed manual.
Look in the manual
Mercron v auto transmission fluid
You need the machine that pumps new transmission fluid in and the old transmission fluid out like a shop or Ford dealer has
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
transmission fluid level and what brand should I use in it
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