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If you fold down or take out the back seats of your Ford Escape, you could potentially fit a full-size mattress inside. Just keep in mind that it will be a tight fit, and you might need to secure the trunk with a bungee while driving. Be sure to check the local regulations, as many places have restrictions on how far items can stick out from the rear of a vehicle before you risk getting a ticket.
You can squeeze a full-sized mattress into a Ford Escape, but it will be a tight squeeze.
You already provided the answer to your question - yes, a full size mattress does. Have you ever heard anyone mention a full size king mattress? Probably not, because "full" already denotes a specific size.