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If your Escape is v-6 powered a common problem believe it or not is a solenoid in the transmission that allows the torque converter to "unlock" at idle. If the solenoid is bad then the torque converter stays locked and puts a load on the engine causing rough idle in gear at stop.
Check the throttle body make sure its not sticking. If its not sticking then the problem would be the EGR valve and sensor since they control the idle speed for the motor. Rattle sound under car might be a heat shield for the exhaust that came loose.
Is your vehicle a turbo diesel? or if it's petrol, again does it have a turbo?.... The turbo can often cause the effect that your explaining, regarding the orange glow from the exhaust manifold.... To give any more advice, I'll need more info from you....Example: do you live at a high altitude?.....The type of engine?....Any modifications bolted on?.... When did the idling become too high, was anything done to the carburation around that time?