I used Escrow.com successfully to sell a domain, but I did learn later there's a potential fraud as they only take control of the buyer's funds, not the seller's domain. The domain is still transferred directly from seller to buyer. There's potential fraud where the seller hides the domain after you xfer it, and tries to get their money back from the escrow.
Not sure how much of an issue in practice, it partly will depend on your confidence in the buyer (escrow actually told me they know the buyer well so I was fairly confident). Ideally you should find a good escrow that takes both sides before swapping them, but not sure if there are any trusted names that do this tbh.
Thanks! I've used Sedo in the past (https://sedo.com/uk/services/domain-transfer/) but no idea if that's better.