I don't think this future society was intended to be perfect or utopian or a recommendation for how we should develop. I don't think that EY is seriously (or non-seriously) suggesting that society would be better with decriminalized rape.

Rather, this is most likely an expression of the principle that the future will contain things that we would consider a moral outrage, just as every century in recorded history so far has contained things that the people of one or two centuries previous to them would have considered a moral outrage.

There's a lot of discussion in this comment thread already looking at the question from different angles, and I recommend you take the time to look through it.

I agree, though, that the logical implications are not well-thought-out. Can I delay or prevent someone from getting from point A to point B by accosting them in the hallway for sex? What if three people all decide they want sex with the same person at once? Twelve people? A hundred? At a certain point, sexual intercourse is an unavoidably rivalrous good this side of forking uploads.