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It's a tough thing to "get right" by everyone, because people are looking for different things when they try to enjoy your battles and in the end I think it's something that has to line up with the dynamics you're trying to get out of your combat system. If your game aims to deliver enjoyment through a sense of progression, then it might make sense to enable Escape at 100% in every battle, whereas if your game aims to deliver a strategic or competitive feel (even as a single-player game) then it might make more sense to disable Escapes entirely or make their success rates highly correlated to stats.
Start by asking yourself what's fun about your battle system - that should give you some clues about what you should do.
I disable escapes in most of my games (either because defeats are acceptable and won't throw a Game Over, or because the amount of progress you'll lose is minuscule and the segment won't replay exactly the same way when tried again). One mechanic that I plan to try in the future if and when I make a more traditional "epic" RPG is to allow the player to attempt to Escape at any time (with no RNG influence), but to give the enemies one final turn before the party escapes. This alleviates the frustration of being told by the RNG that you can't escape, but it also makes the escape feel less "free" and keeps the excitement high as you traverse dungeons (since you can't just walk away from every single battle if monsters overpower you). Enemies could also escape if they think you're too strong for them - but of course you'll also get a final turn to try to take them down if you want it.
Action RPGs, as well as some Tactical RPGs and Beat-em-Ups, simply let you "escape" enemies by getting far enough away from them on the map (or by reaching the boundary of the combat area and then spending a few seconds of real time "escaping"), which feels very natural and is a good solution, but is harder to simulate in a game which doesn't have a mechanic to represent space in battle.
One last thought is that the best way to escape a battle is to never start the battle in the first place. A well-made Visual Encounters system gives the player a chance to avoid most battles when they don't want to fight (either because they're bored of encounters, or because they've been beaten down and are in jeopardy), and even some Random Encounters systems give fair ways to minimize the encounters a player will run into without completely removing the risk and excitement from their dungeons.
Start by asking yourself what's fun about your battle system - that should give you some clues about what you should do.
I disable escapes in most of my games (either because defeats are acceptable and won't throw a Game Over, or because the amount of progress you'll lose is minuscule and the segment won't replay exactly the same way when tried again). One mechanic that I plan to try in the future if and when I make a more traditional "epic" RPG is to allow the player to attempt to Escape at any time (with no RNG influence), but to give the enemies one final turn before the party escapes. This alleviates the frustration of being told by the RNG that you can't escape, but it also makes the escape feel less "free" and keeps the excitement high as you traverse dungeons (since you can't just walk away from every single battle if monsters overpower you). Enemies could also escape if they think you're too strong for them - but of course you'll also get a final turn to try to take them down if you want it.
Action RPGs, as well as some Tactical RPGs and Beat-em-Ups, simply let you "escape" enemies by getting far enough away from them on the map (or by reaching the boundary of the combat area and then spending a few seconds of real time "escaping"), which feels very natural and is a good solution, but is harder to simulate in a game which doesn't have a mechanic to represent space in battle.
One last thought is that the best way to escape a battle is to never start the battle in the first place. A well-made Visual Encounters system gives the player a chance to avoid most battles when they don't want to fight (either because they're bored of encounters, or because they've been beaten down and are in jeopardy), and even some Random Encounters systems give fair ways to minimize the encounters a player will run into without completely removing the risk and excitement from their dungeons.