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There is no such thing as a consensual version of rape. It is a phrase used by a person who has misspoken. Rape is an illegal act, and not a consensual act. Under some situations, a person can not legally consent to sex, such as when they are under the legal age of consent, passed out, drugged, illegally coerced, threatened, threats to harm others, mentally incompetent, when it involves incest, etc.
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