After Mike Moustakas and Lorenzo Cain each struck out, Ross fired a pitch off Lough's shoulder, forcing in Escobar with the go-ahead run.
George Kottaras then iced the victory with a two-run double and the Royals evened their three-game series.
Aaron Crow (1-1) earned the decision with 2 1/3 innings of scoreless relief and Greg Holland notched his ninth save for Kansas City.
Mitch Moreland recorded the only RBI for American League West-leading Texas.
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