I would have died of embarrassment if my parents had “escorted” my date and me to our prom. We had chaperones hanging off the palm trees. I had never given them any reason to worry about me. And if a teen is determined to get up to something, they will absolutely find a way to do so.
Something like this “escorting” thing is a clear signal that you don’t trust your kid.
At some point - and this is one of them - you have to decide that you’ve done your best as a parent, and that your time of directly controlling their every move is over. If you don’t start to step back at times like this, how will your kid learn to think for herself/ himself?
Children of helicopter parents have a terrible time learning to be responsible for their own selves.