Yes, couple of times. I have had normal sex witch I enjoyed, but I also had BDSM which I enjoyed most. Escorts have the good thing where if you have a fetish, its a place to actually do it. The workers understand and are more than happy to do something.
For regular straight sex, I had bit of chat in the beginning, get to know each other, have a bath and then in the bed slowly getting into sex! I also had to read reviews, because some workers tend to be wasting your time, doing 2-3 things for 1-2 hours and then they send you away.
For the bdms one, same thing I walked in, had 10-15 minutes about fetishes, then get naked and start as discussed. One of the few sessions, was to be a basement slave, with lots of strapon sacking, anal, whipping with a bull type, spanking and lots of psycho whispering. Another one a tinder date which turned wrong, and ended with whipping, anal etc.