What is the proper way to URL encode Unicode characters?

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I would always encode in UTF-8. From the Wikipedia page on percent encoding:

The generic URI syntax mandates that new URI schemes that provide for the representation of character data in a URI must, in effect, represent characters from the unreserved set without translation, and should convert all other characters to bytes according to UTF-8, and then percent-encode those values. This requirement was introduced in January 2005 with the publication of RFC 3986. URI schemes introduced before this date are not affected.

It seems like because there were other accepted ways of doing URL encoding in the past, browsers attempt several methods of decoding a URI, but if you’re the one doing the encoding you should use UTF-8.

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