It is true that a 51% attacker can steal from the drivechain escrow. Of course, your funds will only be at risk if you put them on a drivechain, the 51% attacker would have to rewrite history to steal mainchain funds.
I don't think it follows that this increases centralization pressure on miners.
Here's how I think about it: If an entity manages to get 51% of the hashrate they can orphan blocks and win all block rewards from then on, censor transaction, increase transaction fees arbitrarily etc. Bitcoin just doesn't work if any entity controls 51% hashrate for long. Whether it's hashrate escrow funds or all future block rewards the prize for a 51% attacker would quickly become worthless since the value of Bitcoin would fall when people realized that mining was controlled by one entity.
So there's really no rational pressure for miners to centralize (as it would ruin Bitcoin's value prop). Each miner wants more hashrate but also wants Bitcoin to remain decentralized (so that the block rewards they earn continye to have value).