How do I change the transmission filter in the 2010 ford escape?

Under normal operation, You'll never need to change the transmission filter on a 2010 Ford Escape. It's sealed inside the vehicle's transmission, so accessing it in order to change it will do more harm than good, and You'll run the risk of damaging numerous sensitive components in Your pursuit to get to it. You'll likely want to skip the swap. You should, however, be changing Your transmission fluid every 25,000 to 40,000 miles, and checking it at 5,000 to 10,000 mile intervals in the meantime. Low transmission fluid leads to overheating, which is the biggest cause of the '10 Escape's transmission failure issues. If You don't feel confident swapping the fluid Yourself, the price of the job is quite reasonable through most professional mechanics.