Escudo is an all-rounder, it does everything well, and is 4WD with high top speed and grip. It's basically the "noob" car. The GT-One Road Car is faster in the straights and in the turns, but is RWD, lots of wheelspin, and can't go offroad. So it depends on your needs.
Granted, if you actually take the time to learn how to drive the Escudo it's a zillion times faster than going into pinball mode. The GT-ONE just doesn't give lazy folks the easy option since it's rear wheel drive (and let's be honest, back in the day we were all lazy ).The GT-ONE also helps to teach you better driving habits IMO, because unlike in the Escudo you have to actually learn how to drive it properly instead of just wall-riding and corner-cutting everywhere.