Maybe I'm missing something, but wouldn't it still need escaping for those ASCII separator characters (or alternatively, a restriction for the stored text not to have them)?
It's true that having to deal with escaping much less often (since the ASCII separator characters are rarer than commas/quotes) would be convenient for manual reading/writing, but I feel that's canceled out by the characters being hard to type/see (likely the reason why they're rare) - and it wouldn't necessarily save on writer/parser code complexity.