Check out the OSC to that section, in particular OSC 4 to 226.23(f). It gives detailed examples of the kinds of fees that would not trigger ROR, including, for example, insurance premiums.
IMO, assuming the escrow was established for payments you require to make the loan, i.e., property taxes and hazard insurance, then those would be considered "costs of the refinancing", and would not trigger ROR.
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Opinions are mine and not necessarily my employer's.