fix: consistently encode query

[srchase]

Fixes SignatureV4's getCanonicalQuery to use consistent query encoding via the escapeUri function used in the querystring-builder package.

The querystring-builder is used by each of the handler packages (node-http-handler, fetch-http-handler) to convert a HttpRequest query property into an encoded query string. getCanonicalQuery in SignatureV4 must use the same enocding to assure that signatures are calculated properly.

Also, removes unused escapeUriPath from querystring-builder.

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[aws-sdk-js-automation]

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Codecov Report

❗ No coverage uploaded for pull request base (smithy-codegen@08f8213). Click here to learn what that means.
The diff coverage is 100%.

@@                Coverage Diff                @@
##             smithy-codegen     #935   +/-   ##
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  Coverage                  ?   91.58%           
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  Files                     ?      147           
  Lines                     ?     2912           
  Branches                  ?      507           
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  Hits                      ?     2667           
  Misses                    ?      245           
  Partials                  ?        0

Impacted Files	Coverage Δ
packages/signature-v4/src/getCanonicalQuery.ts	100% <100%> (ø)

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