Escrow doesn't really work either. You have the original code, but do you have the signing key? Is it still the correct signing key, or has an update rotated it without putting the new one in escrow? Are there different versions of the hardware that need different firmware?
The only way to know that it works is to let people install custom firmware from day one, so they can discover if they can't and raise their objections before the company is defunct.
The only way to know that it works is to let people install custom firmware from day one, so they can discover if they can't and raise their objections before the company is defunct.