Kali and eskrima are very generic titles. It'll depend much more on the style or organisation whether forms are practiced. As Rich said above, Modern Arnis often uses them. (I recall them being called "anyos" in MA, but he'd be a better reference for that. I trained with a Modern Arnis group for years, but I didn't formally study the style; we just trained together.) We did them in Doce Pares (where we called them "sayaw"), but I think my school created those, so I'm not clear how strong a tradition that is within DP overall. I never got the sense that GM Cacoy had much interest in them.
Personally, I don't teach forms. But the various forms of kali, eskrima, and arnis are less regulated than some styles, so it's much more variable.