Escorts are just normal people that happen to have a job that isn't "accepted" by the society.
Loneliness is overrated and sometimes is confused with "being needy"
I am never lonely, as i enjoy to much my own company, I usually say that i am my best friend, i go out to dinner, cinema, travelling all by myself. And my advices from me to me couldn´t be better if only I would follow them
The fact that we can't say to our family and friends what we do, might be sometimes frustrating, because there are days that the only thing that we would love is to pick up the phone and talk about our day to those we love, when this happens to me, i open a bottle of wine and write down all the feelings of that particular day... Then i will set the paper on fire and flush the ashes. I learned this with a NLP practioner and at least for me, works just fine, just the meaning of writing down the bad feelings that you experienced during the day and then flush them away is very powerful.
But as human beings sometimes we are just "needy" and that's it, we might confuse it with loneliness but its not, we try by all means surround ourselves with people we can talk about, have drinks, go out, and who knows sex. And from my experience (been there, done that wear the t'shirt) is when we make the worst decisions.
Touring it can be lonely but is not more lonely then to be travelling all over the world for your company and only talking to the clients of your firm during the day. If you think about is no different we both travel, we both meet clients, we both most of the time only have time to see the hotel where we are staying, and we both can't complain to our families and friends because from their perspectives we have the best work in the world, we travel for a living and we have the opportunity to see all this exciting cities.