I think some of the mindset of "they didn't know better" as an excuse, is absolutely not okay. But I am very much in favour of early intervention and talking rhough what rape and sexual assault actually is far earlier and more openly than often happens.
I had a very upsetting experience in my early 20s. I typed up the whole story but it was too long but in effect, I was almost raped by a man I'd known for a long time and liked after I had found myself in a drunken snog with him.
The key thing is that afterwards, he knew. He wrote me a letter a few months later and bizarrely, many years later I ran into him in a pub in a completely different country. I saw him and froze. And he, understanding, didn't come anywhere near me, and quietly left.
He KNEW. But, in his stupid 21 year old mindset, he had thought that because I was kissing him and had agreed to come home with him, sex was basically guaranteed. I'd like to think this man learnt a lesson from that experience - I think, based on the way he behaved subsequently around me, that he did. But my point is that perhaps if we had better teaching and discussions, earlier, in those days, this wouldn't have happened in the first place. He wasn't a bad man. But he nearly did a very bad thing.
I was teaching DS about "consent" from when he was a toddler - he has always been taller and bigger than average and so no, at 2 he was not at risk of raping another child, but he absolutely was able to physically overpower other children and I was very firm with him from day 1 that he couldn't play that "fun" roughhousing game if the other children didn' tlike it and as we started talking about sex as he got older, part of that conversation has been discussing the importance of being 100% certain that the girl is a) keen b) capable of consenting.