you are talking about consent with relation to sex, but the game is talking about contractual consent. Contractual consent is often not able to be withdrawn regardless of the consciousness of the individual. Thats why contractual consent in our society is generally limited by only legal actions, and subject to judicial review. But in a society where the legal system is in service to corporate interests, you won't have any moral based laws. Making the contract the only law that matters.
I think the discussion is too focused on whats legal, our laws frame of reference, or theirs. When the real question is, Is this right? and if it isn't right, why do most people accept it?
Are you saying the patrons can sue dolls for breach of contract if they aren't pleased? That sounds more messed up.