The front seating position and size is identical to the 2020 Escape (I have a BS and drove my parents 2020 Escape)
The back seat space isn't as bad as people make it out to be and I haven't heard my wife complain at all about the interior space over her old 2017 Escape.
We don't know the size of the new Bronco Sport. Current one is the same width as Escape with the same wheelbase (within an inch or so) and is actually 5 inches taller than Escape. But it's 8 inches shorter. That can easily be fixed by cargo area and rear seat room.