Fix #3249: fix TokenHandler audience issue (#4975)

* Fix #3249:  fix TokenHandler audience issue

* Remove additional string escape

* Update TokenHandler.cs

Author: gautamdsheth

src/Commands/Base/TokenHandler.cs

@@ -383,9 +383,9 @@ private static async Task<string> GetAccessTokenWithFederatedTokenAsync(string c
                 var queryParams = new List<string>
     {
         "grant_type=client_credentials",
-        $"scope={Uri.EscapeDataString($"{resource}/.default")}",
+        $"scope={resource}",
         $"client_id={clientId}",
-        $"client_assertion_type={Uri.EscapeDataString("urn:ietf:params:oauth:client-assertion-type:jwt-bearer")}",
+        $"client_assertion_type=urn:ietf:params:oauth:client-assertion-type:jwt-bearer",
         $"client_assertion={federatedToken}"
     };
 
@@ -411,4 +411,4 @@ private static async Task<string> GetAccessTokenWithFederatedTokenAsync(string c
             }
         }
     }
-}
+}