But whatever the OP's issues with esteem and self-image, it sounds like she's trying to break him out of it. She asked him out on a date, and reassured him that it was on friendly terms. Where the OP could have had another night in this weekend, he's now going out for the evening with a girl who seems to want to be around him, if only as a friend. If it goes well, then that one date alone could do wonders for the OP's self-esteem.
He's not hiring her. They're going out as friends. Because escorts are allowed to have friends, or even people they're attracted to romantically.
And the OP is perfectly at leisure to hire escorts if and whenever he chooses. Obviously it would be a good idea to fraternise with other women as well, and hopefully this is the start of OP coming out of his shell in that regard. But there is nothing mentally or physically degrading about being with an escort, and I would love to know why you think there is.