Escape low brake fluid spongy pedal

I had a similar problem with my old Opel Astra, though the spongy pedal was more pronounced. I'd check your brake lines for any leaks. Also, inspect the master cylinder. Low fluid with no visible leaks often points to an internal leak in the master cylinder, or worn pads indeed.

Thanks for the tip! I'll definitely check the lines and master cylinder more closely. When you say 'internal leak', does that mean the fluid could be leaking into the booster, or somewhere else I can't easily see?

Exactly, the fluid could be leaking past the seals inside the master cylinder itself, so it's not necessarily going to drip onto the ground. Given the age of your Escape, it's probably worth having a shop give it a thorough inspection of the entire hydraulic brake system. Could be the master cylinder, a caliper, or even just worn pads/shoes that are causing the fluid level to drop as the pistons extend further.

Appreciate the advice. Took it to a local shop, and you were right. Turns out the front pads were completely shot, and the rears weren't far behind. New pads all around and a fluid flush set me back 480€, but the brakes feel solid again. Thanks for pointing me in the right direction!