The 2014 and later Touring models have HD-LAN (CAN bus) electrical systems, thus the need for that harness to connect accessories. It looks like a pretty straightforward installation, you will want to run the power lead for the Escort to the violet/blue lead of the connection harness, and you can either splice the ground wire to the black lead of the connection harness, or just connect the ring terminal on the Escort harness directly to one of the chassis ground studs. Don't use the red lead of the connection harness, that is hot all the time, whereas the violet/blue is switched with the ignition. If you don't want to use the special connectors in the Harley kit, and want to make it easy to disconnect, you could just use good quality bullet male and female crimp on quick disconnect connectors on the wires. The connectors Harley includes have to be heated to make the built in sealant flow, and if making a permanent connection they are the most reliable way to go. On the other hand, I've got the simple quick disconnect style on my bike for a couple items and they've been completely reliable for ten years.
Jerry