Based on my experience towing two travel trailers, you don't want to be close to the maximum tow rating. I wouldn't tow the Lance with the Escape. It would probably pull it, but I think with gear loaded, you'll be pretty heavy and the towing experience may not be very good. In comparison, the F150 will tow it without "blinking" and you also have the advantage of the truck bed for carrying any extra stuff that you may want.
Before buying our Bay Star, we had downsized to a Winnebago Minnie 2201DS, which only had the dinette. For us, it was a mistake and we replaced the dinette with a nice Flexsteel Easy Bed couch. Consider how you like to use the "main room" and decide ahead of time if you want a dinette, or a comfy couch/recliners with a portable table for dining or when you need it.
Retired but busier than ever!
2012 Newmar Bay Star 3302
5 Star Tune, SumoSprings, Roadmaster Steering Stabilizer, Blue Ox Avail
Brake Buddy, 2015 Chevy Malibu