Follow directions of this YouTube video.
The low-tire message is a bit more challenging to figure out. I'd begin by second-guessing the tire pressure gauge used to confirm the tires are OK. Accuracy can vary quite a bit with inexpensive tire gauges. It's odd you receive the low-tire message after driving a while because tire pressure typically increases about 1 psi per 10 degrees rise in tire temperature, and an incorrect sensor reading should be picked up soon after they report in, upon vehicle movement.
Your tire pressure sensors contain batteries which are supposed to last approximately 10 years or 150,000 miles. Ford's commendably thorough TPMS (tire pressure monitoring system) service information indicates erratic sensor operation can occur as the internal batteries begin to wear out. Conversely, it's unfortunate that the Escape's instrument panel message center doesn't indicate which tire is the culprit!
Additional causes include possible radio frequency interference from an aftermarket security system or cell phone charger. The phone charger angle sounds interesting, as the RFI emitted can vary with phone battery status. Perhaps you can try driving for several days with no charger attached, as a test.
Detailed TPMS testing can be performed using a professional grade scan tool, at either the dealer or a heads-up independent repair shop, which may be the needed tack if the above suggestions don't pan out.
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