No, having sex with Epstein's trafficked victims is considered rape in pretty much all countries. Protestations that the victim "presented herself as willing" are like defending a buyer of obviously stolen goods on the basis that the fence didn't overtly tell them they were stolen. Minsky was a 73-year-old man offered sex by a 17-year-old girl on his friend's Caribbean island -- he knew what the real situation was.
I'm also pretty much 100% in agreement that Minsky ought to have known that what he was doing was wrong. However, I know literally nothing of the situation. It was stupid of Stallman to give a "for instance" because it's always going to be construed as him advocating a really bad situation. But later he literally asks people for copies of the deposition (that he can read with free software) so that he can find out what actually happened. He also had no idea what actually happened and was basically saying that he's not willing to condemn someone without understanding the circumstances. There may be mitigating details that we know nothing about. There may not.
There are people who believe that there can be no mitigating details. They may very well be correct (again, I literally don't know), however, I hate the witch hunt against people who do not wish to pillory others without understanding the situation first.
Having said that, like I said, it was stupid of Stallman to wade into this. He's got a big target on his back and there are people who will take every opportunity to lob something at him.
Given that even the Virgin Islands locals took to calling it "Pedophile Island," it's a pretty good guess that most of the people who went to the parties there had at least an inkling of their true nature. But no-strings-attached money (or worse, other "favors") were a powerful motivator to look the other way.
> Given that even the Virgin Islands locals took to calling it "Pedophile island"
Locals almost always have more knowledge about a place in their backyard than someone flown in for a special occasion.