FS is Field Separator. It’s ascii code 0x1C. Theres a whole group of these separators in ascii:
> The separators (File, Group, Record, and Unit: FS, GS, RS and US) were made to structure data, usually on a tape, in order to simulate punched cards.
There is no escaping of this fact, if you have a storage format you need to be able to store records of that format within the format, so you need some form of encoding/escaping.
It doesn't change much which character we choose for TSV/CSV, tabs, commas, special purpose ASCII/unicode control codes. We still need escaping to store discrete text records within other text records.
Data transfer formats are not the place to cut these corners so it really doesn't matter what is "most of the time" except perhaps for performance. For correctness relying on "most of the time" is a footgun, it is either always happening or never happening.