In The Glass Menagerie, Tom feels confinement from being stuck in an uninspiring job, cramped into a small apartment with his family, and unable to see the world or have adventures. Amanda is similarly confined to her thoughts of the past, and Laura traps herself in a world of glass animals. Escape can mean two things here: escape from reality into an alternate world, or escape from a trap or confinement. This play hints at the moral ramifications of some kinds of escape, asking the question of who is left behind and what happens to them when you leave.
Tom is a selfish character because of his desire to escape his responsibilities to his family.
Although Tom seeks to escape his life and job at the warehouse, he neither desires nor is able to escape his family.