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My stock backup camera died on my 2016 Ford Escape SE, so this video shows how to replace it. I ordered a Dorman 590-419 replacement off Amazon (a.co/d/6fvUwBP) for around $160. The new camera has been working great for a few weeks now, so don't hesitate to purchase this model if you are looking for a quality part.
The video shows the entire process or disassembling the inside trim on the liftgate and removing the trim panel that holds the backup camera. I have read some comments in forums and on other videos that talk about a quick and easy method where you don't need to remove all of the trim pieces, but I am not confident that is advisable unless you really know what you are doing. I would be worried that I would damage the trim panel that the camera is mounted onto.
I hope this video proved helpful, and the only tools needed are a T20 Torx driver, a phillips screwdriver, and a 10mm deep well socket on an extension. Good luck and thanks for watching this video.