As it pertains to reaching consensus, everything in the "Basic Paxos" section of the article is the same for Raft as it is Paxos. Raft can be seen as instance of Paxos with different terminology and prescribed solutions for leader elections, solving dueling leader issues, and persisting past outcomes.

Here's a nice paper on this that dives deeper into the matter and also shows how Paxos can be just as "understandable" as Raft with a few vocabulary changes: https://arxiv.org/pdf/2004.05074.pdf