1st gen explorer, 184 inches long, 2nd gen escape, 174 inches long, 4th and 5th gen explorer 194 inches long.
The escape replaced what the explorer was supposed to be a long time ago, a mid-sized SUV. Ford still makes an Expedition that is 10 inches longer than the explorer if you are looking for a full size SUV with an engine facing the "right" direction putting power to the "right" wheels in a traditional chassis on frame truck style setup.
The explorer was only a really good vehicle offroad in the first gen, the second gen was passable, after that, they were just bloated station wagons on truck frames. I hate the styling of the new explorer, but it was definitely the right way for ford to go with it. I'm actually told the 5th gen explorer is as good offroad as the 4th gen, which..... wasn't really worth writing home about either. A new escape is just as roomy as a first gen explorer, if not more so, and the new explorer is TONS more roomy than the 4th gen even. Also, having the non-awd explorers available in FWD configuration opens up a HUGE market. There are tons of potential SUV buyers who don't want a 4wd but are scared of RWD vehicles in bad weather or winter driving, and a lot of them want or need something bigger than an escape.