Is there any comprehensive list of characters that need to be escaped in Bash? Can it be checked just with sed?

In particular, I was checking whether % needs to be escaped or not. I tried

echo "h%h" | sed 's/%/i/g'

and worked fine, without escaping %. Does it mean % does not need to be escaped? Was this a good way to check the necessity?

And more general: are they the same characters to escape in shell and bash?

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