We are building tools for safe p2p transfers known as a WhoIs service. These tools will consist of a place to add a contact address so interested parties can reach out to you about your domain and smart contract tools to list a domain in a contract that will allow for safe transfer from one user to another.
No escrow needed. We are also talking to partners to build a more advanced exchange. We want to keep our core focus on end user usage - but have decided to work on a simple listing service to cover the basic use case. And it will be free (except for gas costs).