To replace the alternator on a 2010 Ford Escape, you can... Take it into a shop, or buy a replacement alternator and put it in. Not really a lot of other routes here. If you're doing it yourself, the firSTStep is buying the replacement. AutoZone sells the Duralast Gold 11272N for about $295, that's compatible with your Ford. The overview for replacing is going to be: Remove the front right tire, since it's easiest to access the alternator, located under that side of the engine, from underneath. Disconnect the battery, then remove the splash shield (which is bolted with 5 bolts). Next, remove the drive belt; now's a good time to inspect it for cracks and replace if necessary. Next, remove the AC compressor. Now you'll finally have access to the alternator: Remove the two 15mm bolts holding the alternator in, as well as the positive battery connector and the engine wiring harness, and then you can drop the alternator directly down and out.
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