Welcome to RVF,
@victactoe; glad to have you here.
Without knowing the Forerunner year/model, we have to base our answer on the 2021 specs (available online) and the current Escape models. First, the 2021 Forerunner has a rated towing capacity of 5,000 pounds. A good safety rule of thumb is to stay at or below 80% of the rated capacity. That would be 4,000 pounds.
The smallest Escape model is the 17B and it has a Gross Vehicle Weight Rating (GVWR) of 4,000 pounds fully loaded. This is right at the weight that I think the Forerunner could safely tow. No room for error, but probably doable with this combination, though far from ideal IMHO. Remember, trailer towing is more than just being able to pull a certain amount of weight; it also has to stop that weight and corner properly with that weight. The Forerunner is a fairly short-wheelbase vehicle, so that could result in a bit of a choppy ride.
As an aside, a friend of mine bought an Escape 5th wheel trailer a couple of years ago and he is very happy with it. Since I live not-too-far from where they are made in Chilliwack, BC, I accompanied him on a tour of the production facilities and must say that I was impressed with the products and how they are made. And, my friend has a very high level of attention to detail, so if something passes muster with him, it is likely pretty good.
Good luck.
TJ