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In japan the legal age of consent is 13 which in my opinion is really low. Still, because itadori gave consent you can’t deem it illegal. It is definitely something that most people find discomforting and i too find it a bit uneasy but i don’t agree with the comments saying that it’s illegal when it really isn’t especially considering that most of the people commenting are more familiar with the age of consent being 18.
It's interesting how people are applying their countries laws on age of consent on a manga that takes place in a different realm/universe/dimension You have no idea what the age if consent is there. Perhaps the age of consent is 15, then you can't call it illegal.