What you are describing is a common symptom of a dirty or malfunctioning Idle Air Control (IAC).
I snapped a few pictures when it occurred on my wife's 2003 Ford Escape.
Our Escape would idle low, then it got to point it would die when you stopped. Revving + holding brake was only way to keep it running.
The IAC is kind of on top of the throttle body and has 2 bolts.
We removed and cleaned it using throttle body cleaner (spray can), carefully actuate the plunger when you clean it. It may have gone on being fine, for a lot longer with just the cleaning.
Since it was my wife's, I took no chances, with my Well-Being. Yes, I visited parts store and replaced it, I figured it had 100,000 miles on it, and constantly was a moving part, replacement of this component, was just preventative maintenance in my eyes.
A new one for yours starts at about $47.00 at Advance Auto Parts.
This part is very easy to spot on your engine, my Escapes looks almost identical to yours.
Below are pictures of mine. keep in mind the part numbers in my pictures belong to my six cylinder Escape.
I also posted you two items from "Repair Guides" (top left on our pages).
https://www.2carpros.com/articles/idle-air-control-valve-service
Here's the other:
https://www.2carpros.com/articles/how-to-replace-an-idle-speed-control-motor-iac
Keep us informed.
The Medic
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Sunday, March 8th, 2020 AT 12:01 AM