To me, depends on how comfortable you are with up- and down-climbing while wearing your pack.
We lowered packs at the drop-in to Seventyfive Mile Creek, but that was more as a convenience than necessity. Didn't personally find the Papago Wall a problem with my pack, but some others in the group felt more stable having their pack hauled up after them.
IMO no rope is necessary for the Escalante, although one should not be without rope on a backpack anyway.
To me the 75-mile drop-in (presuming e/w travel) (or unless you are using the short-cut) is a piece of cake and no tougher/steeper than you will encounter elsewhere on the route.
At the wall section, if I take off my pack off it is merely to lift it up to the next ledge and then climb up after it.
(Best bet is to POLITELY hail a river party for the 3-minute ride from Papago Creek to Hance Rapid beach vs. about 40-60 minutes for the wall and slide - one of the benefits of a downstream GC itinerary).
"The censorship method ... is that of handing the job over to some frail and erring mortal man, and making him omnipotent on the assumption that his official status will make him infallible and omniscient."
George Bernard Shaw
Agreed with hikeaz. You don't absolutely need to lower or haul packs anywhere on this route. It will mostly be helpful if you have less confident or experienced members in your party.
Just take some paracord or something like you normally would while backpacking, and that will be fine if anyone in your group needs it.