Hmm, that's a very complex topic and I only speak for my own opinion when I say this, but I feel like a lot of it is not "animals can't consent" and more like society saying "this is different and different is scary and I don't understand it. So I'm just going to say it's bad so I don't have to deal with it or think about it

"
I am strongly of the opinion that animals absolutely can consent and are in fact capable of being autonomous beings that should be treated with love and respect (outrageous, I know /s).
I won't go off on a massive tangent (because nobody needs to read walls of text) but I honestly don't think society is quite 100% correct in this regard. I think, as always, that as long as nobody is hurt by something, who cares who does what with whom or what species.
And if society - or your friend, or whoever - doesn't like that? Well it's a good thing they're living their lives and your living yours. Nobody is hurt, it doesn't affect them, so why should their unaffected opinions influence your own?