Edit: consider how often keymat has leaked.
The only way key escrow would be remotely trustworthy would be if there were "hostages" to provide an intrinsic punishment for their failures or stonewalling of transparency.
And you think this because you have assurances from who? The NSA? Xi Jinping? MBS? Kim Jung Un? Diane Feinstein? Donald Trump? RSA Inc.? NIST? David Sternlight?
But see my answer to Gödel_unicode.
And stuff kept in vaults can be leaked too.
Sure the two things are different but the dynamics are the same. Information wants to be free, and it leaks.
Your argument can be turned around as well. The NSA tools were meant for use by a small specialized team under strict controls. Whereas key escrow has been put forward as a solution that would allow any podunk sheriff in any jurisdiction to apply for access to decrypt private information anywhere... virtually guaranteeing compromise with poor security practices, unlike what would be expected for the NSA tools.