The ampersand (&), pipe (|), and parentheses ( ) are special characters that must be preceded by the escape character (^) when passing them as arguments.
OS-COMMAND NO-WAIT VALUE("~"C:\Program Files\Internet Explorer\IEXPLORE.EXE~"http://domain?id=70389^&^Token=aaa%2Fkeee%2F%2Foooo%3D%3D^&^tab=2#
Note that for Linux and UNIX systems the escape character may differ. The single-quote worked to escape the ampersand character in a similar call on AIX:
OS-COMMAND SILENT VALUE("echo http://domain?id=70389'&'Token=aaa'&'%2Fkeee%2Fooo%3D%3D'&'tab=2#").