I hear this argument exclusively from adults.
Have you actually tried talking to a lot of children about this topic?
(it would be funny if you did; it would also be equally funny if you didn't, and are surprised that children didn't express said argument, even though you didn't give them the chance)
-He argued that rape is no the same as having sex with a minor. He is right, that's not the definition of rape.
-A minor is not necessarily a child. You can be a minor and the next day be 18 in a porno movie.
-Never did Stallman said it was ok, He just raised the question whether Minsky knew She was being coerced by Epstein. Clearly not the same.