Having finally looked up Article IV, Sec 2 to read it for myself, I have to join those saying it doesn’t bear on Dred Scott’s case. He was not a fugitive. If the text of the section is your highest guide that should be what matters.
Once again, this all hinges upon what you mean by the word "escape." Escaping the "labor due" is the bottom line. How it is accomplished isn't really relevant.
You want to specify "fugitive" and in this context meaning someone who has ran away to another state, but the same concept applies to someone who tries to "escape" through guile, through the use of other states laws.
It's still an "escape." You are interpreting the word "escape" with too much specificity regarding the type of escape being committed, and likewise contrary to the manner that the slave states of the time would have understood it.