Escobar is visiting with the Chiefs on Friday, ESPN's Adam Caplan reports.
A 2013 second-round selection, Escobar was stuck behind Jason Witten the past four years in Dallas, catching only 30 balls for 333 yards and eight touchdowns (on 48 targets) in 62 games. He'd likely have to compete for the No. 2 tight end job in Kansas City, where Travis Kelce (shoulder) is entrenched in the top spot.