Inconsistent URL encoding between macOS's Preview and Adobe Acrobat

Question

I am adding a footnote:

\footnote{\url{http://example.org/\#manual}}

The hashtag # escaped and success in compile the document and result in a http://example.org/#manual footnote. However, the link itself was encoded, and if one clicks the URL, it will open http://example.org/%23manual, which cannot be processed by the destination website.

Since we cannot change the behavior of the destination website, how to disable the URL encoding for the URL itself?

Example, use latexmk -pdf main.tex to compile:

% main.tex
\documentclass{scrartcl}
\usepackage{hyperref}
\begin{document}
Read\footnote{\url{https://threejs.org/docs/index.html\#manual/en/introduction/Creating-a-scene}}
\end{document}

If we click the generated URL, the link opened in a browser is encoded by the percentage symbol, i.e. because the hashtag is encoded to %23.

Expected:

https://threejs.org/docs/index.html#manual/en/introduction/Creating-a-scene

Actual:

https://threejs.org/docs/index.html%23manual/en/introduction/Creating-a-scene

It looks like the problem exists in the macOS Preview. Adobe Acrobat works and doesn't introduce URL encoding.

More investigation:

I believe this is a problem that can be addressed by the package but doesn't know how to do it. Evidence: in the hyperref's document (Septmber 2018), page 7, the link http://somewhere/path/file.pdf#nameddest=chapter.4 opens without URL encoding and works as expected.

---

A workaround (many thanks to @Ulrike Fischer), use the following instead:

\footnote{\color{blue}\texttt{http://example.org/\#manual}}