Battery light stays on

Your alternator may be overcharging or otherwise performing improperly. I would take it to the nearest auto parts shop and have it tested. They will do it for free and get accurate readings so you can know what is going on. Then report their findings back here and we will go from there.

Or you can try doing the test yourself. Here is a guide on how to do it yourself: https://www.2carpros.com/articles/how-to-check-a-car-alternator

Good luck and keep us posted.

This is the junction box located next to the battery. Check fuse #6. It is for the alternator. If blown, your alternator will show as charging, but not actually be charging, which will trigger that light.

I was doing some reading and found out that with this car, whenever the battery light is on, it should be setting a trouble code. If you do not have a scanner, take it to the nearest AutoZone or other auto parts store and get it scanned. Report back here with the codes, and I can look them up and see exactly where to go from there.

How do your battery terminals look? Dirty/corroded cables and terminals can cause a battery light to come on. Check this guide out: https://www.2carpros.com/articles/everything-goes-dead-when-engine-is-cranked

Okay, you say it sometimes goes off but not always, that sounds like a loose connection, either in the wiring or a bad solder joint on the actual board. Scanning to get codes for the charging system takes a bit better scanner than most of the "free scan" places use. They can do most engine/power-train codes but only when it is an active code.
Do you have a voltmeter you can test with? I would like to know the battery voltage at rest engine off. Then the same voltage engine running and engine at 2,000 rpm. All measured at the battery terminals. You should see around 12.6 key off, then 13+ at idle and above.

Check the wiring harness from the alternator back into the main harness, I have seen a couple Escapes where the wiring had melted a bit and the wires were shorting and it would randomly cause a charging issue.