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No, they are not. Prostitution is a crime in Minnesota, and is considered a misdemeanor.
Escorts is simply another term for prostitutes. "Escorts" tend to be more discreet, such as asking for money in regards of "donations" or for "charity" (but everyone understands that they are keeping it), and never openly talking about sex but simply implying it. They also frequently market themselves as companions without sex, and then claim that sex later is voluntary.
Every one in a while, escort services are "busted" in stings.
So no, escorts are not legal. They simply work in a more gray area but the end result is that they are prostitutes.
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