Shifter-cable bushing rollaway — recall 22V-413major
Every 2013-2019 Escape falls under recall 22V-413: the bushing that attaches the shifter cable to the transmission can degrade or detach, which may prevent the car from shifting into the gear you selected — or let it roll after you put it in 'Park.' Ford's fix (their number 22S43) replaces the under-hood bushing and adds a protective cap, free. This is the one gen-3 safety recall that touches this car directly; confirm it shows completed by VIN.
Sources: NHTSA complaint database, 2016 Ford Escape · NHTSA recall database, 2016 Ford Escape (22V-413, 17V-398, 26V-011, 25V-695)
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Recall 22V-413 repair