The "compact" file format (without the tab and newline) should be the SSV standard for data interchange and storage. The pretty-printed format should only be used locally to display/edit with non-compliant editors, then convert back as soon as you're done.
In time, editors and file browsers should come to render separators visually in a logical way.
You shouldn't need escapes for separator characters precisely because they are not designed for data. Their entire purpose is to separate hierarchical data.
If it turns out that escaping is needed, it will still be far rarer than escaping commas and newlines.
In time, editors and file browsers should come to render separators visually in a logical way.