I never had any problems with Escrow support, even when a buyer foolishly claimed - after I transferred the domain to his Enom account - that they were not aware of such thing as "annual renewal fees" (they thought that by paying me for the change of "ownership" they would not have to pay annual renewal fees, EVER again).
However, it's evident that in your situation Escrow fails to acknowledge that their system is not bulletproof. Perhaps your sole remedy would be to reverse the charges through Paypal's card funding source (your Bank?) and lose your Paypal account in the process.