This sounds like a typical XY problem. There are very few situations where you would want to unescape JSON (and I say this to be polite, I can't think of a single one) and in your case, your code suggests you echo that JSON so it can be consumed elsewhere.
Elsewhere probably means on a client with JavaScript. There is the JSON.parse function that does exactly what you want, and more: it transforms JSON (correct JSON, that still has its escaping backslashes) into native JavaScript object.
echo json_encode(["url" => "http://stackoverflow.com"]);
// {"url":"http:\/\/stackoverflow.com"}
// out of scope, but response is the response from your ajax call
var parsedJson = JSON.parse(response);
console.log(parsedJson.url);
// http://stackoverflow.com
This is how you actually get your unescaped string from JSON.