You need to look into the owners manual for each vehicle and see what the tow limit is specified. It's hard to guess from here are there to many variables I equipment.
The Ford towing sites shows 1500-3500 lbs. for the Escape
depending on drivelines and optional towing accessories, and it shows a range of 1340-2160 for the 2011 Ranger (there apparently were no 2012 Rangers sold in the US) So, as you can see, a 2000 lb. trailer can be very iffy except for one version of the Escape