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If you can actually load the regular URL then you should canonical to it (it is best practice to canonical all of your pages to themselves), but if going to that page just redirects to the escaped fragment then you should update how your site build is set up so that you don't have the escaped fragment any more.

Hi Alan, The section was not about tricking search engines. It was about helpful tips on how to do things better. They use to show different trick on tracking visitors and testing.