It is Ford designers flaw. I also experiencing this now with 2008 model (Ford Escape, even though they claim they tuned software extensively. I made car complaint as well).

So if your all wheels are stuck (thick mud, 1-2 wheels facing significant stone, you are in steep ditch to get out and you can't roll back anymore to give momentum) it seems there is electronic limitation to allowing acceleration... You cannot accelerate higher than 1000rpm, until wheels start rolling... That leaves the feeling is that you sitting in some 50HP car and trying get out somehow.

Usually (I had to do 3 times in both hybrids history) it took me 6h to raise a car (sh*tty lifter usually bends while you lift using not flat surfaces), pave under at least 2-3wheels, so I can swing car in a position where electronics allows to accelerate.

El motor is 94HP, gas engine 133HP, you would think would never be such an issue, but I know total output is limited to 155HP (it might be only 2008 model info!), but as I said if wheels stuck you have about 50HP to work with... this is not standing ESCAPE name at all.