Though I agree with you that just "wearing a leather harness" is a pretty innocuous, and in general people don't require consent for their wardrobes in public. And on top of that, going to pride and then complaining about other attendees is at best a bit silly and at worst completely missing the point.
Being naked isn't per se a sexual act, obviously. I don't need anyone's consent exposing my body e.g. going swimming in a lake.
On the other hand, someone getting off exposing theirselves to strangers is involving unconsenting strangers sexually.
Wearing a harness or demonstrating the lifestyle perfomatively does not include strangers in a scene.
Playing in public for e.g. public humiliation on the other hand, is involving unconsenting strangers sexually.
It's really not that hard. These concern trolls have an agenda.
I don't know who needs to hear this, but having gay sex in the privacy of your home while you're tied up in a leather harness should not result in those consequences. Display of similar behaviors at Pride are intended to tell the larger world that they aren't going to stop being themselves. People need to grow a thicker skin and get used to the idea, so that Pride isn't necessary any longer.
Nothing wrong with those.
Do young people have such a warped view of consent now that wearing a leather harness in public is considered "unethically involving non-consenting bystanders in a BDSM scene"?? Ahh, the culture of "I am a greater victim than thou" hath no boundaries.