For coding reasons which would horrify you (I'm too embarrassed to say), I need to store a number of text items in a single string.
I will delimit them using a character.
Which character is best to use for this, i.e. which character is the least likely to appear in the text? Must be printable and probably less than 128 in ASCII to avoid locale issues.
Assuming for some embarrassing reason you can't use CSV I'd say go with the data. Take some sample data, and do a simple character count for each value 0-127. Choose one of the ones which doesn't occur. If there is too much choice get a bigger data set. It won't take much time to write, and you'll get the answer best for you.
The answer will be different for different problem domains, so | (pipe) is common in shell scripts, ^ is common in math formulae, and the same is probably true for most other characters.
I personally think I'd go for | (pipe) if given a choice but going with real data is safest.
And whatever you do, make sure you've worked out an escaping scheme!
You said "printable", but that can include characters such as a tab (0x09) or form feed (0x0c). I almost always choose tabs rather than commas for delimited files, since commas can sometimes appear in text.
(Interestingly enough the ascii table has characters GS (0x1D), RS (0x1E), and US (0x1F) for group, record, and unit separators, whatever those are/were.)
If by "printable" you mean a character that a user could recognize and easily type in, I would go for the pipe | symbol first, with a few other weird characters (@ or ~ or ^ or \, or backtick which I can't seem to enter here) as a possibility. These characters +=!$%&*()-'":;<>,.?/ seem like they would be more likely to occur in user input. As for underscore _ and hash # and the brackets {}[] I don't know.
Can you use a pipe symbol? That's usually the next most common delimiter after comma or tab delimited strings. It's unlikely most text would contain a pipe, and ord('|') returns 124 for me, so that seems to fit your requirements.