no, the backend has no reason to see `foo%20bar` - you escape when you're combining that string with other strings (ie into HTML, into a SQL query, etc.)
Many database engines can handle arrays, or table-valued variables which are basically the same thing. Most ORMs will also abstract away arrays for you, so you as the developer never need to deal with escaping of data in arrays.
If you're using an ORM/SQL builder, sure. If you prefer writing raw SQL because ORMs are often quite limiting, then you have to write something like `INSERT INTO foo VALUES ?` and then you pass it `[1, [2,3,4], 5]` as params, which is mostly fine but you still have to parse out that "?" from the query. Why parse? Because what if you wrote 'VALUES "?"' now it's a string and shouldn't be replaced. It would be much nicer if you could just send the query to the SQL server and figure out what to do with the params.