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Section 5.3.1 Verification Details says that the subscriber MUST respond with a status of 200 and response body equal to the hub.challenge value. It does not offer a format for the hub.challenge value. Escaping it could alter the value in a way that makes it unacceptable to the hub.
I suspect in implementation that it is just a hash, but it is not a part of the spec so cannot be relied on.