This is working for me in Swift 5. The usage case is taking a URL from the clipboard or similar which may already have escaped characters but which also contains Unicode characters which could cause URLComponents or URL(string:) to fail.
First, create a character set that includes all URL-legal characters:
extension CharacterSet {
    /// Characters valid in at least one part of a URL.
    ///
    /// These characters are not allowed in ALL parts of a URL; each part has different requirements. This set is useful for checking for Unicode characters that need to be percent encoded before performing a validity check on individual URL components.
    static var urlAllowedCharacters: CharacterSet {
        // Start by including hash, which isn't in any set
        var characters = CharacterSet(charactersIn: "#")
        // All URL-legal characters
        characters.formUnion(.urlUserAllowed)
        characters.formUnion(.urlPasswordAllowed)
        characters.formUnion(.urlHostAllowed)
        characters.formUnion(.urlPathAllowed)
        characters.formUnion(.urlQueryAllowed)
        characters.formUnion(.urlFragmentAllowed)
        return characters
    }
}
Next, extend String with a method to encode URLs:
extension String {
    /// Converts a string to a percent-encoded URL, including Unicode characters.
    ///
    /// - Returns: An encoded URL if all steps succeed, otherwise nil.
    func encodedUrl() -> URL? {        
        // Remove preexisting encoding,
        guard let decodedString = self.removingPercentEncoding,
            // encode any Unicode characters so URLComponents doesn't choke,
            let unicodeEncodedString = decodedString.addingPercentEncoding(withAllowedCharacters: .urlAllowedCharacters),
            // break into components to use proper encoding for each part,
            let components = URLComponents(string: unicodeEncodedString),
            // and reencode, to revert decoding while encoding missed characters.
            let percentEncodedUrl = components.url else {
            // Encoding failed
            return nil
        }
        return percentEncodedUrl
    }
}
Which can be tested like:
let urlText = "https://www.example.com/폴더/search?q=123&foo=bar&multi=eggs+and+ham&hangul=한글&spaced=lovely%20spam&illegal=<>#top"
let url = encodedUrl(from: urlText)
Value of url at the end: https://www.example.com/%ED%8F%B4%EB%8D%94/search?q=123&foo=bar&multi=eggs+and+ham&hangul=%ED%95%9C%EA%B8%80&spaced=lovely%20spam&illegal=%3C%3E#top
Note that both %20 and + spacing are preserved, Unicode characters are encoded, the %20 in the original urlText is not double encoded, and the anchor (fragment, or #) remains.
Edit: Now checking for validity of each component.