No, it's forced upon them by external circumstances. That's also in many cases setup and supported by the very persons exploiting them. Put people in a cage of poverty because you've decided and support that is should be like that then call is voluntary when they are force to give up their freedom is perverse.
No one in their right mind would ever call that a voluntary choice. Sending your children to do life-threatening work in the factory is not a voluntary choice. It's a forced concession. That it wasn't illegal doesn't make it voluntary.
> No court of law
Laws is no objective guide to neither morality nor justice. That's proven by history.
> I'm explaining that the fact that people are forced to do difficult things to survive does not make the situation authoritarian
If course it is. You can't first create and support the conditions then absolve yourself from what you've created when from people are forced to sell their freedom to you to survive.
> This is a blatant lie
What's the lie? Not forced by violence, but forced by the system the propertied support and have a disproportional influence over.
> Well if you're incredibly narcissistic, then you justify robbing people.
Not really? Withholding necessities to gain power over peoples labour and make a profit is pretty pathologically sociopathic and abolishing that state of affairs is righteous, not robbery.