IMO, there are ups and downs to using unprintable characters in your protocol. On one hand, yeah, you don't need to worry about someone putting a tab in a TSV field and messing up the format. On the other hand, it can make debugging a lot harder because what you see isn't necessarily what you get, and obviously it becomes harder to hand-write requests.
Of course, OP ended up using unprintable characters anyway, so I think they might as well use the ASCII ones. But even if you know about and use those characters, I think there is still a place for [CT]SV.
I'm glad you brought them up though, because I think the nonprintable ASCII characters occupy a very interesting place in computer science -- (almost) universally supported, but (almost) never used.