The steering wheel wont work unless you swap the steering columns. As far as the dash and door panels, aren't they the same across all but the Escalades? Unless you're just upgrading from a base model to SLT interior or changing color. In which case you should look for a console with matching lower dash on ebay and use SEM Color Coat on the doors and dash.
Here you can see I used Classic Coat on my seats and Color Coat on my door panels in my Escalade interior conversion, and they turned out great.