A quick look at https://www.escrow.com/fee-calculator shows that fees only reach $20K if you're selling a $2.2 million domain name. At that level, lawyers should be involved on both sides anyway and your $20K fee is better spent on proper legal services to get it done. Escrow.com is notoriously expensive.
ENS domains may allow for smart contract transfers, but the downside of this is that anyone who gets access to your keys can now permanently own your domain name for that same $50 (likely higher) transfer fee. For companies, this means that a single security slip-up or even a single disgruntled employee with the right access can forever destroy your company's internet presence with no recourse. The current domain name system isn't perfect, but there is recourse for hijacked and stolen domain names.
Nothing comparable exists in the blockchain space, specifically because people don't want it to. Sounds great if you're sitting on the sidelines, criticizing other people for their poor OpSec when things go wrong. Doesn't sound great when you're trying to secure a business and realize that loss or theft of the domain keys means irreversible destruction of your domain name.