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Related to #3128 Update the API to enforce mandatory URL encoding for `pubsubTopic` and `content_topic`. * Update `docs/api/rest-api.md` to include examples of URL-encoded `pubsubTopic` and `contentTopics` parameters. * Modify `waku/waku_api/rest/store/handlers.nim` to validate and enforce URL encoding for `pubsubTopic` and `contentTopics` parameters. * Add error handling for invalid or non-encoded `pubsubTopic` and `contentTopics` parameters in `waku/waku_api/rest/store/handlers.nim`. * Update `decodeRequestBody` function in `waku/waku_api/rest/rest_serdes.nim` to validate and enforce URL encoding for `pubsubTopic` and `contentTopics` parameters. * Add error handling for invalid or non-encoded `pubsubTopic` and `contentTopics` parameters in `waku/waku_api/rest/rest_serdes.nim`.