First of all you need to understand that the word you are using - "escape" - is meaningless.
What you probably mean is "to make your query safe from SQL injection". But, unfortunately, there is no such magic "escaping" that will make some abstract query safe.
The traditional query building assumes that all the query parts beside data values are hard-coded, while data values are bound via placeholders, like this:
$query = 'SELECT col1, col2 FROM some_table WHERE id = ?';
$stmt = $dbh->prepare($query);
$stmt->execute([$id]);
$row = $stmt->fetch();
This kind of a query considered safe.
In your case of a dynamically constructed query, every part is potentially vulnerable.
And here it is very important to understand that a burden of sanitizing all the query parts is entirely on this function. You cannot dismiss the danger simply claiming that your data is coming from the trusted source. That's a slippery ground because people often have no idea whether their source is trusted or not.
So, if take your question as "Do I have to protect this code from SQL injection", than the answer is - YES, YOU HAVE.
In the meantime you are protecting only a small part of your query - the data values. So you still have to protect (this term is much better than "escape") all other parts.
On a side note, your code is connecting to database every time it runs a query, which is highly inefficient and makes it impossible to use some database features.