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Playing devil's advocate here. Can I think of a situation where it's bad for consenting adults to be doing something?
There is a concept in law that if consent is made under duress, then it isn't really consent. Even if they are emphatically telling you they consent. Think about prostitution. This book (admittedly I haven't read the whole thing) would probably argue that if the adult prostitute and the john consent to the activity and the business relationship, then all is good. But if you learn the back story of the prostitute, you would virtually always find someone who is in a desperate situation who really doesn't want to be turning tricks but is trapped. Trapped either by a violent pimp or trapped just by financial situations and few options. Nobody wants to grow up to be a prostitute.
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