I have a 2006 Escape that has quite a bit front end vibration when I first accelerate. It seems to subside once I hit at least 20mph. Any feedback on what may be going on?

 

I would check the wheels for balance, or simply rotate the wheels and see what happens.

 

One thing you might look at also are the motor mounts. If the engine/driveline gets bent too much one way or the other on acceleration (as mentioned), it will create this sensation that then seems to improve greatly or disasppear. These mounts had a history of going bad.
If this is a vibration at 40 or 50 MPH, then very much do a tire balance and take a good look at the tires.