In 2017, after suffering immediate relegation, Escudero agreed to a deal with Arandina CF in division four. On 17 July 2019, after missing out promotion twice in the play-offs, he moved to Zamora CF of the same category, and again finished his first season with promotion.
On 25 July 2021, Escudero signed a one-year contract with SD Compostela, in the newly-established Segunda División RFEF. Regularly used, he moved to Primera Federación side CF Talavera de la Reina roughly one year later, where he would score a career-best 15 goals during the campaign – which were still unable to prevent the club's relegation – including four goals in a 4–2 home win over Pontevedra CF on 7 May 2023.
On 15 July 2023, Escudero was announced at fellow third division side Cultural y Deportiva Leonesa on a one-year deal. Unable to repeat the same goalscoring form, he joined fellow league team Algeciras CF the following 1 July.
On 11 July 2025, after scoring 11 goals for Algeciras, Escudero moved to CE Sabadell FC still in division three. He contributed with nine goals in 40 appearances overall during the season, as the club achieved promotion to Segunda División.
On 20 August 2026, Escudero terminated his link with the Arquelinats, and signed for third division newcomers CD Extremadura just hours later.