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1. Escape '%' characters in URLs - only unescaped data
should be passed to URL helpers
2. Add an `escape_segment` helper to `Router::Utils`
that escapes '/' characters
3. Use `escape_segment` rather than `escape_fragment`
in optimized URL generation
4. Use `escape_segment` rather than `escape_path`
in URL generation
For point 4 there are two exceptions. Firstly, when a route uses wildcard
segments (e.g. *foo) then we use `escape_path` as the value may contain '/'
characters. This means that wildcard routes can't be optimized. Secondly,
if a `:controller` segment is used in the path then this uses `escape_path`
as the controller may be namespaced.
Fixes#14629, #14636 and #14070.
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