It is possible that you only have 2WD, but the Escape is not really a 4WD, it's an AWD. It runs in front wheel drive until it senses slippage at the front wheels, then it engages the rear wheels. Check for an indicator light on the panel you mentioned. It will light up if the rear wheels are engaged.
This article applies to the Chevrolet Silverado 1500 (1999-present). Four wheel drive, also known as "4WD" or "all-wheel drive" (AWD), means exactly what the name suggests: All four of your vehicle's wheels will operate with the exact same turn-by-turn level of drivability and power, which is ideal for off-road conditions.
As we are aware, most "4-wheel drive" systems are not actually true 4-wheel drive systems. Even in the Jeep Wrangler line- with the exception of the Rubicon which permits both differentials to be locked-in. In the 2012 SR5 model, a locking rear differential is NOT available as an option (nor is it standard).. 94 145 94 104 476 208 480 195