Update for @kimberleybsb.bsky.social and @robburgess.bsky.social (and way quicker than expected):
He can escape if he wants to. But he also was in a panic and I wasn't near him.
No worries though, he wasn't in any danger and I did have my eye on him. Just won't go out with both boys at once
He did never attempt to escape but I don't think he'd be able to if he wanted. It's a dog harness and much sturdier than the ones for cats (pictured below). It also redirects the force of the lead onto his back and chest rather than strangling him and squeezing his ribs.