Thank you waggy for straightening these people out... btw, ZX2s are still being made (although their future is questionable I hear) but the Escort was killed off. So 2002 must be the last version of the car. I'm driving a 1999 Escort ZX2 now and it's a great little car. No complaints from me.
Ford has a pretty lousy reputation for quality but that isn't deserved for the later Fords. They got their act together in the mid-90s I think. Unfortunately though, lately it seems that Ford is returning to its sucky ways with that big Focus recall and the delay in the Mustang Cobra.
Even though I'm ok with Ford, I'd still get the Toyota cuz of the longer warranty.
Whatever you buy, hope you enjoy the car.