The thing about encoding multiple fields within a cell using \x01 somewhat bugs me -- not because it's a hack but because it's yet another example of needless reinvention of wheels. Good old ASCII has characters specifically devoted to separating fields, keys, etc. that no-one uses for anything else. Why not use them instead of inventing a new character that does the same thing? (By the same token, there was never an…
IMO, there are ups and downs to using unprintable characters in your protocol. On one hand, yeah, you don't need to worry about someone putting a tab in a TSV field and messing up the format. On the other hand, it can make debugging a lot harder because what you see isn't necessarily what you get, and obviously it becomes harder to hand-write requests.
Of course, OP ended up using unprintable characters anyway, so I think they might as well use the ASCII ones. But even if you know about and use those characters, I think there is still a place for [CT]SV.
I'm glad you brought them up though, because I think the nonprintable ASCII characters occupy a very interesting place in computer science -- (almost) universally supported, but (almost) never used.