Should I add the % network interface suffix after the IPv6 address?

Bug Report

Please answer these questions before submitting your issue. Thanks!

1. What did you do?

I write host with ipv6 in topo file like this:

host: "fe40::e8aa:e364:560b"

deploy failed

Error: failed to fetch cpu-arch or kernel-name: executor.ssh.execute_failed: Failed to execute command over SSH for 'tidb@fe40::e8aa:e364:560b:9000' {ssh_stderr: , ssh_stdout: , ssh_command: export LANG=C; PATH=$PATH:/bin:/sbin:/usr/bin:/usr/sbin /usr/bin/sudo -H bash -c "uname -m"}, cause: dial tcp [fe40::e8aa:e364:560b]:9000: connect: invalid argument

If host add a network interface suffix like this:

host: "fe40::e8aa:e364:560b%enp1s0"

deploy success but start failed.

pd.log:

[2023/03/30 17:55:46.559 +08:00] [FATAL] [main.go:100] ["create server failed"] [error="[PD:url:ErrURLParse]parse \"http://[fe40::e8aa:e364:560b%enp1s0]:2380\": invalid URL escape \"%en\": parse \"http://[fe40::e8aa:e364:560b%enp1s0]:2380\": invalid URL escape \"%en\""] [stack="main.main\n\t/home/jenkins/agent/workspace/build-common/go/src/github.com/pingcap/pd/cmd/pd-server/main.go:100\nruntime.main\n\t/usr/local/go/src/runtime/proc.go:250"]

2. What did you expect to see?

deploy and start success use ipv6

3. What did you see instead?
   deploy failed

4. What version of TiUP are you using (tiup --version)?
   master branch
   tidb version: v6.5.1

Start by reproducing the IPv6 deployment with and without the interface suffix, then trace TiUP's host handling and the generated PD URL; the payload's stack trace points to cmd/pd-server/main.go:100. Done means deployment and startup succeed for the reported IPv6 address forms without invalid URL or connection errors.