The best-case scenario is still incredibly sordid: Minsky partook in sex acts with a young woman 50+ years his junior who was part of a billionaire's "harem" without checking her age or true consent status.

Quibbling about whether it's actually sexual assault still leaves RMS using his position, stature, and reputation to defend this still horrible "best" case scenario. He still needs to go even if you believe this is what is going on here.