The very concept of statutory rape reinforces how clear this judgment is. The reference to "statutory" means that the mere facts of the act taking place mean that the conduct is off limits. Things like "consent" or even a misrepresentation of the person's age are generally considered irrelevant.
As a society we've decided that there aren't really exceptions to this. If sex with minors occurs it's not OK, there isn't much need to further investigate why it happened.
Stallman, and anyone else commenting here, has really no basis to claim ignorance of this phenomenally clear social norm, which if broken will result in being fired from just about any public facing institution. It's on a pretty short list of such norms, alongside things like displaying your genitals in a board meeting.
While I appreciate the efforts to make this into some kind of principled argument, I don't find "first they came for the people advocating for sex with minors" to be particularly compelling.