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.

A friend of mine has been a prostitute. She said it was the most fulfilling and fun job she has ever had. She loved all the different kinds of people she met. Plus being able to get tax rebates on underwear was nice.

Before I got into my long term relationship I used to hire them with some regularity. Probably 7 times with 4 ladies over 3ish years. I had a really good time with all of them except 1 who was still good, just a little crazy. They were all by far the hottest women I've slept with (one of them did porn before escorting). The sex was really great because I got to be selfish and have them do all the work and I didn't have to be concerned if she got off. The lady I saw several times was also really nice to talk to and was really approachable

Honestly I'd recommend it to my single friends or couples looking to experiment