Yep, 4th gen (2020+) Escape works much like you describe with your Edge in terms of AWD.
There's a slide on the instrument cluster display that shows the status of the Intelligent AWD system. It shows the layout of the car and each wheel getting power has a bar that fills in.
Normal (or Eco, for that matter) drive mode will engage AWD as needed to maintain traction to all 4 wheels. During steady state cruising, it'll stick to FWD. During acceleration, particularly with low traction, it will power all 4 wheels, etc.