Escape gearbox slipping

I have a Ford Escape as well. I had similar shifting problems a while back. It could be the transfer case oil. When that oil degrades, it doesn't lubricate the gears properly. Gears need proper lubrication to engage smoothly. Any sign of oil leakage?

No visible leakage that I can see. How would I check the transfer case oil wear? Is there an easy way to tell if it's gone bad without taking it to a shop?

Unfortunately, checking the oil wear accurately usually involves lab analysis, which isn't really a DIY thing. Given the symptoms, it's likely the oil's lost its lubricating properties, or defective gears in the transfer case. I'd recommend getting it checked by a workshop before things get worse. My repair cost about 330€ because they had to replace the oil and flush the system.

Thanks for the info! Sounds like a trip to the mechanic is in order. I appreciate the help in narrowing down the issue.