AC blows cold then warm after 10 minutes

Classic symptom of a freezing evaporator. The system is slightly low on refrigerant, which causes the evaporator temperature to drop below freezing. Ice forms on the evaporator, blocks airflow, and warm air starts bypassing it. When you turn it off, the ice melts and it works again briefly. You probably need a refrigerant recharge and a leak check. On the 2016 Escape, the common leak points are the condenser (rock damage) and the high-pressure line o-rings.

Before paying for a leak check, try adding a can of refrigerant with UV dye ( at AutoZone). If the system holds for weeks/months after a recharge, the leak is very small and the dye will help find it later. If it goes warm again in a day or two, the leak is significant and needs professional repair.