"Do you think sharing my story could genuinely inspire others?"
It's hard to answer this one without knowing much about the details. What are you trying to inspire in them? I assum your target audience for inspiring would be other escorts who you feel may connect with your personal story. So it's certainly possible if they connect with your expereince.
"How can I ensure that I protect the identities and privacy of the people involved?"
No names. You can change details that don't really matter to the story, like height, ethnicity, weight, hair color, etc... You can change the location, state, city, hotel, apartment, as well. Any details that add nothing to the story can help disguise who they are. Also, if your escort name is disguised along with some of these other details, I doubt they will know it's them you're referencing in the story.
What steps can I take to prevent my work from being misinterpreted or sensationalized?
You tell your narrative and wish for the best. Explain as much as possible. Be upfront and open with why you're telling your story. It can be a preface to the story itself. Stick with the facts. Share how it feels to you, but don't assume to know what other players in your story may have experienced. You can take a fact and your feelings to suggest what you think they may have felt. The key is, to state the fact and your feelings, and then lead into the "I think" statement about others in your story. Avoid extremes or exagerations. It's basically overacting on paper, which makes you less believable. In the end, the devils in the details. The more you provide, and the less you leave to the immagination, the better.
That said, you can only do the best you can. I have found some people will just make up their own ideas and run with it. Good luck.