Vegan here: depends on the situation, in certain situations yeah. Sucking a gorillas dick more or less requires it's consent to be performed, it'll stop you if it wants to. If an animal has the power to stop you, I'd argue they're consenting, if not it's rape.
I think this is an argument someone could use for lack of consent; if animals don't possess personhood, why do you expect 'consent' to be a meaningful concept for them?