The Escape is typically rated higher than the Rav4. The quality on Fords have now surpassed Toyota in recent years. Also, the fuel economy is the same, @ 28 MPG highway. But Ford has the fantastic Sync system available, which is surprisingly useful (I rented an Escape on vacation, and used the Sync system).
If you're looking for good fuel economy and power, try the Chevy Equinox and GMC Terrain. The get 32 MPG and have more power than any other small SUV. They are, IMO, the best 2 small SUV's on the market today. They also have a 5year/ 100,000 mile warranty, so reliability will be no problem. Friends who own them have had nothing but praises for them.
They also have, by far, the best interiors and most standards features, like standard backup cameras. Defiantly worth a look.
http://www.chevrolet.com/equinox/
http://www.gmc.com/terrain/terrain/index.jsp