Well i learned in recent years that not every thing is black and white. Some escorts would freak if you contact them trough personal ways (social medias etc) while others may actually just be cool with it and will see you cause they already seen you before, its not like they risk meeting the wrong guy. I mean when it comes to the first part, i have not experience it myself but i see a few SPs mention they were "scared" about a client finding and contacting them on their personal IG or such. BUT they were still escorting so no idea why the client didn't just go the normal route. It may have scared them that he "stalked them".
In my personal experience and the fact i been in the business a long time now, i had SPs opening up to me and being ok to adding me on social medias or such,, and trough that at times i would randomly see another SP that is friends with them or such. I mean with the internet these days, its not like back then, where you called a phone number in the news paper, got a random girl looking slightly similar to the description given, have sex, and that was it. So some SPs they just were ok to add me, so if they retire, cost nothing to ask. Once i did it and the SP told me she just didn't do much new clients in agency, but i should had contacted her sooner, she was willing to see me np.
I decided to contact another SP directly trough her social. She was actually retired from escorting but had an OF (don't ever talk escorting on OF tough, it could get them banned, there is algorythme scanning messages for certain words) and eventually we ended up talking on Insta and i told her we seen each other before, and i disclosed who i was (with a picture) and she remembered me and was ok to meet again. She told me she still see a few regulars but just do not advertise anymore and is normally not open to new clients. But since i already saw her in the past it was ok.
Obviously when i decide to go this route i know i am taking a risk that she may be scared and don't want to see me again (even if she return as an escort publicaly), and obviously we all know escorts talk among each others too and well yeah i don't want to end up getting a bad rep. I only do it when its the last kinda chance and i have a good feeling it will be a yes. For instance, if she added me on FB but i see she is in a relationship, i won't bother.
I had a few guys (high rollers tough) told me they met a lot of instagram models in the US trough contacting them by their Insta. No idea how much they paid, or what screening they had to do, but at some point since they had saw plenty, obviously it was easy to give reference.
So bottom line i would say trust your gut. The sugestion the guy said above (booking a normal massage) is a good one if you ok "loosing $" if it happen she is not interested anymore to escort. Could it break your relationship with her? Maybe.... but chances are small. Up to you to measure the risk.
Like i said things changed, and sometimes, especially if you are able to high roll, social media may be a good way to meet certain escorts UTR (Under the Radar). I would recommand Insta more over FB because its usually less personal. You see followers, comments etc on insta, and their goal is to get as many followers as possible, while FB often friends may be hidden and it may be reserved for their direct family.