Sometimes (I'll admit this is the exception rather than the rule) simplifying provides a clearer picture of something specific that the original person stated and that the person wants to address.
Substituting "consensual" for "as long as no one is coerced" is equivalent in my book, and otherwise there is nothing in your response to imply that GP's statement is an inaccurate portrayal of Stallman's views. If anything, using the word "consensual" was perhaps being too generous towards Stallman, as it could be argued that "as long as no one is coerced" is actually a LOWER bar to meet than "consensual."
Based on a cursory search of the internet, it appears that while RMS pays lip-service to the real power issues that exist in adult-child relationships, I don't think he really understands the depth to which power in such relationships is centered around the adult. Furthermore, it appears that he doesn't realize how young of children are abused. RMS seems to really be thinking people who are at the boundary of adulthood, whereas many of the abused are so far from adulthood that there is no question that they CANNOT provide any meaningful form of consent. It's not clear to me if Stallman believes that young children could ever meet his standard of not being coerced.
Both GP and I are addressing a specific portion of Stallman's statement because that part is cloaked in a number of areas on which reasonable individuals could respectfully disagree. That specific portion shows either extreme ignorance or a frightful lack of judgement. It is difficult to tell which.