Which characters need to be escaped when using Bash?

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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