RFC 2616 is obsolete, the relevant part has been replaced by RFC 7230.
The NUL octet is no longer allowed in comment and quoted-string text,
and handling of backslash-escaping in them has been clarified. The
quoted-pair rule no longer allows escaping control characters other
than HTAB. Non-US-ASCII content in header fields and the reason phrase
has been obsoleted and made opaque (the TEXT rule was removed).
(Section 3.2.6)
In essence, RFC 2616 defaulted to ISO-8859-1, and this was both insufficient and not interoperable anyway. Thus, RFC 7230 has deprecated non-ASCII octets in field values. The recommendation is to use an escaping mechanism on top of that (such as defined in RFC 8187, or plain URI-percent-encoding).