No because the condition of consensual sex is not satisfied by an agreement made previously at a single point in time; it requires a continuous state of mutual agreement and willingness and awareness throughout the entire duration of the act itself between the people involved.
So, for starters, both people need to be awake. One of the obvious reasons why is because it's important you're able to change your mind at any given moment for any reason. If you're asleep, drugged, or in this case chipped, you're not in a position to do any of that. You wouldn't be in any position to maintain or revoke consent, let alone maintain or revoke a "prior agreement". So if someone is having sex with a person who is in that state, it is definitely sexual assault - doesn't matter what was said or "agreed" the day, the year, the month before or whatever because it would be impossible to know if they were still wanting to have sex in that actual moment.
You can agree to allow people to do things to you while unconscious irl. Surgery, and sleep experiments fall under this category. To apply that to other things, may be immoral by some standards.
But even if you reject that concept, in the world of cyberpunk, that type of arrangement, where you give blanket consent without awareness is not uncommon.
Corporations have bio implants which feed drugs to your system to alter your mood, and mindstate for productivity. (which you don't control) even causing withdrawal and addiction.
People are required to accept cyberware enhancements (limbs)for certain jobs.
Corporations also have the ability to monitor you via your own cybereyes, and have biomonitors.
the concept of continuous consent is not a thing in the business world of cyberpunk. Once you agree, they can do whatever is in the contract, or you can quit, if they don't kill you.
So, the characters in the world might have a personal beef, but society as a whole accepts it. And, I don't think Judy see's it as always wrong. She objects to the way clouds is doing it, not to the concept. She doesn't try to change the business, just the execution. Johnny, who believes in freedom, and choice, and is extremely anti business exploitation hates it, but he is from 50 years in the past, the conundrum of 2077 is not just the exploitation, but that it has been marketed to people, and they except it as normal.
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How am I mistaken? It literally says in the database entry that the sex worker is "completely unaware.. during the session". So, based on that, no, consent is impossible. And if Robotic_Onion is right about Judy working on a "Doll Emergency Break" system, then that would imply one doesn't exist. Where are you getting this idea the doll has control to stop a session at any time?
the wiki may be slightly wrong, I have seen errors, but the key might be that the memories are erased. That might explain the shard that evaluates their performance.