A 2003 Ford Escape, like most vehicles, will have its emissions system checked through an OBD-II scan, which reads data from the vehicle's onboard computer. This data *includes* information from the vehicle's actual driving history, but not necessarily a specific, named "drive cycle." The on-board diagnostic system monitors various parameters over time, not just during one specific test.
If you're talking about a specific emissions test, you'd need to consult the testing agency's guidelines for that test. For example, if you're in the US and dealing with a state inspection, the requirements will be specific to your location. If you're doing an emissions test yourself using specialized equipment, the procedure will dictate the necessary driving pattern.
In short: there's no single "drive cycle" for your vehicle. The relevant "drive cycle" would depend on the specific emissions test or analysis being performed.
