I encountered this error at work when deploying AWS API Gateway:
Invalid HTTP endpoint encoding detected for URI (Service: ApiGateway, Status Code: 400
That was because the URI containing encoded %xx characters that AWS API Gateway doesn't like. (Even though they are valid and work well with curl.) Replacing those characters fixed the issue. Here are a list of not welcomed characters that I found out from my experiments:
%21
%24
%2C
%3A
%0A
They are corresponding to characters !$,: and new_line
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