He literally says that rape should be contextualised, that there are various forms of consent, that rape has been demonised, and we shouldn't think of rapists as monsters. He didn't say anything about brothers and fathers at this point.
I couldn't watch all 50 minutes of it, but I watched the section where he talks about rape and didn't hear what you wrote. Pehaps you could give a time stamp for that. It sounds like absolute rubbish.
He says that any individual can be a rapist and says "including yourself" to the female interviewer.
His point doesn't appear to be that by demonising rape we are overlooking family members who could be rapists (as though there is nothing demonic about child sexual abuse, which is what that would most likely be). What he is arguing is that demonising rape means we are not allowing for the possiblity of the rehabilitation of rapists. He talks about rape as though it's the kind of crime that anyone can fall into when they may be going through a tough time, like getting into trouble with the police when you're an alienated teenager or stealing if you're poor. Or "she said no but I could tell she really meant yes".
Only a man would come out with such rubbish and be so obtuse as to women's concerns about rape and rapists.