These days, it’s barely news that an automaker plans to add a new car-based crossover to its lineup. But when Ford first introduced the Escape back in 2000, the car industry was in a completely different place. Honda and Toyota had found success selling small CUVs, but American automakers were much more focused on body-on-frame SUVs.

With its roomy cabin, solid feel, and nimble handling, though, the first-generation Ford Escape quickly won us over. When powered by the optional 200-hp V-6, we even went so far as to call the Escape “lively.” And thanks to its traditional SUV styling, it offered the same rugged feel that attracted buyers to Ford’s other SUVs.

Fast forward 19 years, and Ford has recently introduced the fourth-generation Escape. In that time, more than a dozen new competitors have entered the segment. Engines have also become more powerful, fuel economy standards have risen, and technology has become more important than ever. So before the 2020 Escape goes on sale later this fall, let’s take a look back at how the Ford Escape has changed through the years.