I wasn't around at the time, but surely ASCII was (even if not ubiquitous)? Is there any particular reason that the FS/GS/RS/US (file/group/record/unit separator) characters didn't catch on in this role?
I did an ETL project years ago from a legacy app that used these delimiters. It was gloriously easy. No need to worry about escaping (as these characters were illegal in the input). It's a shame they didn't catch on.