Update DefaultStacIO to fix parsing non-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.

[codecov]

Codecov Report

Attention: Patch coverage is 33.33333% with 4 lines in your changes missing coverage. Please review.

Project coverage is 92.38%. Comparing base (795befa) to head (5b6e765).

Files with missing lines	Patch %	Lines
pystac/stac_io.py	33.33%	3 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1566      +/-   ##
==========================================
- Coverage   92.43%   92.38%   -0.06%     
==========================================
  Files          55       55              
  Lines        8371     8374       +3     
  Branches      964      965       +1     
==========================================
- Hits         7738     7736       -2     
- Misses        449      453       +4     
- Partials      184      185       +1     

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