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No, concubinage was typically consensual.
By definition of concubine, sure, but consensual is a far cry for most. I’m trying to remember the exact quote, but I’ll paraphrase it here: ‘In slave-owning societies, the vast majority of concubines were slaves.’ https://archive.org/details/historicaldictio0000klei for the source.
Historically consent has often been quite optional, when it comes to marriage, concubinage, and the like…