[LX302]

I would use the fluid you posted the picture of.
Make sure it says Mercon/Dextron III and you should be fine.

 

[LX302]

The age isn't a factor as much as how many miles you've driven.
I don't know from your first post as to what the actual mileage on your Escape is now.
But if your at 30K miles and your a little low, now would be a good time for a fluid change. Check this website for the drain and fill procedure. I perform a 4qt. drain and fill service every 15K for good measure.