My 2006 Ford Escape has a hard time starting after sitting for a long while.

Sounds like throttle body is dirty clean with throttle body cleaner and toothbrush. Also check air filter and replace if needed.

Sounds like throttle body is dirty clean with throttle body cleaner and toothbrush. Also check air filter and replace if needed. Add fuel injector cleaner to gas tank.

Holding the gas pedal all the way to the floor is called "wide open throttle" or WOT. WOT at startup prevents the fuel injectors from receiving fuel during cranking, and is designed as such to clear up a flooded condition. If you are not in WOT and only have to press the pedal down slightly to get the vehicle to start, then you may have any of the following problems; a vacuum leak, bad intake air control valve/circuit, bad TPS (throttle position sensor), or failing fuel pressure (can be due to fuel pump, fuel filter, fuel pressure regulator), or vent solenoid. Try scanning for any OBD trouble codes.