I personally find that "escorts" tend to have a more "kiss-bang" focus of the experience whereas masseurs who offer massage with a sexual element tend to be more focused on "intimacy" with the sexual finish and other extras potentially as an extension of what they provide. I'd encourage you to explore this.
As a semi-novice, I find that this "hits the spot" for me in terms of the experience that I want. And once I lock in on a few very skilled providers in my city, it becomes a "sure thing".