Update DefaultStacIO to fix parsing ascii in urls

[jsignell]

Related Issue(s):

• Closes STACError: HREF: <url> does not resolve to a STAC object #1565

Description:

Since urllib3 handles non-ASCII characters in URLs and it is already an optional dependency the simplest fix seemed to be just to use that if available.

I still need to add a test.

PR Checklist:

• Pre-commit hooks pass (run pre-commit run --all-files)
• Tests pass (run pytest)
• Documentation has been updated to reflect changes, if applicable
• This PR maintains or improves overall codebase code coverage.
• Changes are added to the CHANGELOG. See the docs for information about adding to the changelog.