This is what I have so far, tried multiple ways but can\'t get it just right. My goal is to sanitize the input to prevent problems while inputting to mysql from text file
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Since you requested "how to escape single quote using awk" here's a solution using awk:
awk '{ gsub("\x27", ".");print $0}'
where \x27
is the escape sequence representation of the hexadecimal value 27 (a single quote).
For a list of all escape sequences see https://www.gnu.org/software/gawk/manual/html_node/Escape-Sequences.html