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fix: escape everything with modified QueryEscape

This commit switches to using `QueryEscape` for escaping all components.
However, because `QueryEscape` escapes ` ` (space) to `+`, we actually
change that to a `%20`, that is the percent-encoded equivalent.

`QueryEscape` was built for HTTP Query parameters, and although there is
[some discussion](https://stackoverflow.com/questions/2678551/when-should-space-be-encoded-to-plus-or-20)
around it, escaping ` ` to a `+` is completely valid.
Sadly, other languages like Javascript don't handle that properly, so if
we simply used `QueryEscape`, the purl couldn't be parsed by other
implementations.
By using the universally supported `%20` instead, we restore
compatibility.