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The PCM activates a relay for the back up lamps from a signal from the transmission range selector
You might look at the relay in the battery junction box.
See wiring diagram below that came from the wiring diagram of a similar vehicle
Here is the manual. Costs $12
2009 Ford Escape Mercury Mariner Wiring Diagrams Manual | eBay

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A quick way to make a function test is ....

Many of the relays in the battery junction box are the same. (Pull and look at pin pattern)
If that is the case you can swap a relay for a different function to the reversing lamp circuit and see if the lamps then work.

After the swap if the lamps come on you will know that the relay is the issue. Get a new relay.

A longer term thing would be to spend the twelve bucks and get the wiring diagram

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The same for an automatic transmission fluid drain and refill. If your ride has over 100,000 miles it would be time to replace all of the oxygen sensors too.

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