Gotta nod toward Escape, my girlfriend owns a 2005 model and she is rolling up on 100K in the next few weeks.....zero problems except one, a rear wheel bearing was getting noisy at 97K...had it replaced...did a transmission service while it was in since she said she is going to keep it for another year or more....still looks good and she got 70K on the OE Continental tires...so when it was time for a new set, she got another set of Contis'. She has the V6, but with the new 2.5L four cylinder...should be plenty peppy for your grandparents. Her commute is 100 miles a day round trip and she loves the comfort of the car.
Go with the Escape....they won't be disappointed.