Yes, but what the law says and what is going on in practice are often (or usually) two different things.

In your own example, a forensic psychiatrist might have interrogated you when you were 17 and concluded that you were of sound mind and had the requisite emotional and logical faculty to “consent” in every reasonable definition of the term.

However, the law says that your consent in this case has no legal baring. This is not to undermine your own agency as a 17 year old, but to protect those 17 year olds who were not as well developed as you, or who might be manipulated some how, and so on.

The trade-off is that there usually has to be a complainant. In your own example you or your parents would (in most jurisdictions), need to ask the police to press charges.

Of course, the age of consent varies between jurisdictions. Here I think it’s 16. I went to school with someone who got married when she was 16 because she had become pregnant when she was 15. I didn’t realise at the time how messed up that was.

I’m reminded of the fascinating and macabre history of Pitcairn Island. The abridged version is that in the 1700’s (?) a sailing ship named the Bounty visited Tahiti for several months where many of the crew became involved with Tahitian ladies. Rather than return to their lives they mutinied, and absconded to an uninhabited island with their brides. Much violence and depravity, and later fanatical religious stuff ensued, but ultimately a tiny community of several dozen people survived to the 1990’s. At that time it emerged that underage sex / rape was a common and even celebrated practice. It’s a truly incredible story for a variety of reasons.