The closest match would be the Ford C-MAX Energi. The C-MAX is related to the current Escape, but is more of a tall hatchback than an SUV. You cannot get AWD.
I'm not aware of any plug-in vehicles with AWD.
There also aren't any affordable compact SUVs with hybrid powertrains. You can get the Lexus RX 400h, Nissan Pathfinder, Toyota Highlander, and VW Touareg as hybrids, but all four are larger and much more expensive than your Escape. None are all that fuel efficient when compared to a conventionally-powered compact crossover, either. The Audi Q5 Hybrid is smaller and more efficient, but no less expensive.
For $35k and used, only the Lexus and Toyota have been around long enough.
Highly efficient conventionally powered compact crossovers include the Mazda CX-5 and Nissan Rogue.
If you really like your Escape Hybrid, your best bet might be to get a 2012, the last year they were offered.
If you really want a plug-in, and can do without AWD, then the C-MAX.