unescape alternative in node.js

I'm using the deprecated unescape function in one of my program.

The protocol I'm working with sends escaped binary strings via the query string. So on their side they are doing something along the lines of (0-9, a-z, A-Z, '.', '-', '_' and '~' are encoded using the "%nn" format):

var source = "\x12\x34\x56\x78\x9a\xbc\xde\xf1\x23\x45\x67\x89\xab\xcd\xef\x12\x34\x56\x78\x9a";
var encoded = escape(source);
// escaped is now "%124Vx%9A%BC%DE%F1%23Eg%89%AB%CD%EF%124Vx%9A"

So I'm receiving this string on my end and I have to decode it. decodeURIComponent is not working in this case so I rely on unescape:

var received = "%124Vx%9A%BC%DE%F1%23Eg%89%AB%CD%EF%124Vx%9A";
var binaryString = unescape(received);

Since unescape is deprecated, any pointers on how should I decode these binary strings?

Note: querystring.unescape doesn't work either...