What you write is so true. So many large companies use text files to shuttle around data. I worked at one place that used pipe-delimited 10+GB files. It's not sexy, and using awk/sed/cut seems like a hack at first, then you realize that it works and it is the simplest solution to the problem.
But now it's like harping on the benefits of HDDVD or Bluray.
You could use ESC (\x1b) to escape itself and either of your delimiter characters, but of course now you've gotten back all that complexity you were trying to avoid by using non-printable characters.
I had to deal with a system using TSV once, with that "feature", and that point made it so that we had to do the escaping at some higher level, with \t and \\.
You trade simplicity of parsing for rigidity of schema.