After a scoreless ninth, Tampa Bay's James Loney (3-for-5, RBI) delivered a one-out single against Bruce Rondon (0-1) in the 10th and pinch-runner Sam Fuld went to second when Wil Myers followed with a hit.
Scott struck out, but both runners advanced on a wild pitch and Escobar then provided the game-winner with a solid shot over the head of Tigers center fielder Austin Jackson.
Jackson homered and Jhonny Peralta drove in a pair of runs for American League Central-leading Detroit, whose lead over second-place Cleveland was shaved to one game.
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