Close gap between URL writing and parser sections

[annevk]

1. Domain-percent-encoded — error for percent-encoding in domains (e.g., exam%70le.com).
2. Domain-non-strict — error when strict domain-to-ASCII would fail (e.g., _dmarc.example.com).
3. Invalid-URL-unit — now also emitted for spaces in opaque paths (e.g., foo:bar baz).
4. Writing grammar — non-special absolute URLs now allow opaque paths directly, fixing foo:a:b being incorrectly invalid.

Fixes #796. Fixes #797. Helps with #704.

---

💥 Error: 422 Unprocessable Entity 💥

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Error output:

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]

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