I am assuming we live in a society where the parents wouldn't get arrested and lose their kids to the state.

No.

Absolutely not.

Facts?

Sexual contact that is consensual (whether suggested by the child or adult) is not harmful to the child in any innate sense.

I have noticed this is a well known fact that often gets downplayed or ignored.

If the parents approve this covers two main objections to such contact, the power imablance argument as well as the later regret argument.

The former because the parents can make sure the child is fine and happy throughout and the adult male is not abusing their potential for power (this is not innate like many incorrectly suspect). The latter because the child is clearly being raised in a sexually open environment, thus there will not be any reconceptualizing of past experiences based on changed moral views (those being sex feels good so I like it and it must be good to sex is innately wrong for children to partake in and if that man did it with me he mut have abused me and I was just a kid and didn't understand).