Yes, twice, in my early twenties. I was single and it was something I wanted to try. I had money I did not need to live and could put towards futile things. And both times were complete disasters.
The first was out of the spur of the moment. The escort was an older woman, cold, distant and sincerely rude. It felt obviously mechanical and detached. I barely managed to get erect and did not finish. It was paid disappointment.
The second time, I took the time and patience to call some escorts and check if the posture was more in tune with what I was looking for. I eventually found a person within my age range, that at least seemed nice and welcoming. I made an appointment and went. I got a nice shower, followed by a massage, but again something felt off.
When I looked into that woman’s eyes, which I still had not touched, I felt horrible about myself. An abuser. I apologized, got dressed and excused myself. What it has remained with me up until this day was a passing comment from her that I was “not bad at all”, as I got undressed. I’m plain, unremarkable. I can’t imagine the men she had already catered to.

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.