I’ve got a 2010 with the 2.5L, and it’s over 300K miles now. Still runs great, no transmission issues. But watch out for the electric power steering motor—if it hasn’t been replaced yet, it probably will go out at some point. You can get a used one for about $200 on eBay and swap it yourself.
I only paid $600 for mine, and it still runs fine at 300K+ miles. No way I’d pay $5K for one with this many miles. Try to talk them down to $3-4K.
I just sold my 2013 Escape with 105K miles for $4,500. This price seems high for a 2010 with 191K.