Slim it was me who said I didn't know what to do.
What I'm doing so far (my kids are a boy, 10, a girl, 4, and a boy, 2): Since they were born I've never insisted they hug or kiss anyone if they didn't want to. I've always taught them that they must stop immediately if they are doing something someone doesn't like. (Like if they are pillow fighting or wrestling around and one of them says stop). If they comment on someone's appearance (this is more the 10 year old as he's at the age of wanting to fit in and will tell me if he saw someone with "weird" hair or something) I tell them that it's none of their business, that people can look however they want to. That other people's bodies are not ours to discuss or criticize or touch without permission. If they say something is "for girls" or "for boys" I tell them how silly, toys/clothes/colors etc are for everyone. I never treat my daughter like a "princess" or demand she act sweetly or smiley or be "pretty" if she doesn't feel like it. I demand and model respect and politeness from them all. They all do the same chores, they all bake with me. I do not allow any internet access of any kind when they are alone. I tell them hurting is not okay. They only see their father being kind, respectful, and gentle. They see him do his fair share around the house.
When they are older I will tell them about all the things that contribute to rape culture and how that culture contributed to my rape as an older teen. How if the default position for women is "yes" then the fact that I was too drunk to say no, or anything else, meant to this man that it was okay, even though I couldn't move. Even though he knew it was my first time. And that it really, really, REALLY was not okay.
So, that's what I'm doing. I guess I assumed, perhaps naively, that that's what all parents are doing.
But if they are, and it still happens, then what are we doing wrong? What else can I do?