TiDB is not allowing Prepared statement parameter as argument to ESCAPE

## Bug Report

Please answer these questions before submitting your issue. Thanks!

### 1. Minimal reproduce step (Required)
```sql
drop table if exists t1;
create table t1 (a varchar(10), key(a));
insert into t1 values ('a'), ('a\\b');
prepare stmt1 from 'select * from t1 where a like \'a\\%\' escape ?';
set @esc='#';
execute stmt1 using @esc;
deallocate prepare stmt1;

```

### 2. What did you expect to see? (Required)
```sql
mysql> prepare stmt1 from 'select * from t1 where a like \'a\\%\' escape ?';
Query OK, 0 rows affected (0.00 sec)
Statement prepared
```
### 3. What did you see instead (Required)
```sql
mysql> prepare stmt1 from 'select * from t1 where a like \'a\\%\' escape ?';
ERROR 1064 (42000): You have an error in your SQL syntax; check the manual that corresponds to your TiDB version for the right syntax to use line 1 column 44 near "?"
mysql> set @esc='#';
Query OK, 0 rows affected (0.00 sec)
```
### 4. What is your TiDB version? (Required)

```sql
| Release Version: v5.5.0-alpha-182-gad9430039
Edition: Community
Git Commit Hash: ad9430039f54bb9af78d44831c176bc5eafcbba0
Git Branch: master
UTC Build Time: 2022-02-04 18:58:58
GoVersion: go1.17.2
Race Enabled: false
TiKV Min Version: v3.0.0-60965b006877ca7234adaced7890d7b029ed1306
Check Table Before Drop: false |
```