Yes, Escrow, If the buyer doesn't want to pay up-front. Only consider trust when the purchaser has a reputation to lose.
As for selling on first offer. I've done it many a time in my 20 years in domains, Particularly if they have offered to send the funds direct and in advance and I consider it a reasonable offer. I can honestly say I've very rarely lost a sale but, likewise I don't try to over capitalize on what I consider a fair market value