Go to Edmunds.com. You can find the vehicle(s) you are thinking about. Reviews for each vehicle will be there as well.
Edmunds will give you good negotiating advice. The website will tell you the MSRP, the actual invoice price of the car, the TMV (true market value - what people in YOUR area are actually paying for a particular model). It will also give you any rebate info and "kick-back" info. (Kick-back are manufacturer incentives to the dealers.)
All this information will give you more negotiating power with the dealer. We purchased three vehicles using this info. We did most of the negotiating online and in one instance drove about 50 miles to the dealer who gave us the best deal. When we got there, we found out that while he was negotiating, he didn't even have the actual vehicle on his lot - but he traded another dealer for it (one that had given us a higher price). There is a lot more wiggle room than a person would think between MSRP and what you can actually pay.
I am close to people who have had both the Explorer and Escape. The Escape will give you better mileage than the Explorer. The Escape owners were very happy - drove it about 9 years and had no problems. Had about about 130K miles when they sold it. It is quite a bit smaller than the Explorer.
Also...... we prayed about it....