You can convert the other way using this line of code
$str =~ s/([^A-Za-z0-9])/sprintf("%%%02X", ord($1))/seg;
The reverse of what you do in your first regexp, which also could be simplified just a tiny bit like so
$str =~ s/\%([A-Fa-f0-9]{2})/pack('C', hex($1))/seg;
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