Welcome to the forum!
Did you check out Motor Home magazine's guide to towing? It lists all the vehicles that can be towed, by year. If your Escalade isn't 4WD, you probably can't tow it. Now that virtually all the odometers are electronic, you don't have to worry about adding the miles while being towed.
When you say it has "hooks" do you mean it has a baseplate for towing? Plus, you'll need a brake system, either portable or mounted. Many of them run around $1200.
Here's the link:
Downloadable Dinghy Towing Guides | MotorHome Magazine
The folks at
www.etrailer.com may be helpful to answer your questions.
Good luck!