Animals can consent. A thread of data:
Two organisations - Planned Parenthood and RAINN help universities and lawmakers define sexual consent. Their guidelines can all be met by nonhuman animals in certain circumstances: https://twitter.com/Kintsug69960493/status/1251225664755322882?s=20
Violating consent necessarily implies an ability to consent. https://twitter.com/Kintsug69960493/status/1251234573612171264?s=20
Consent is not a matter of comparative intelligence, but of development. Children lack development. Children are not adult animals. Children are objectively harmed by sex - therefore we consider their consent invalid.

This is not the case for adult animals.
Verbal consent isn't the only valid consent.

Citations: UNC , RAINN, and more

https://www.google.com/search?&q=what+is+non+verbal+consent&oq=what+is+non+verbal+consent
The law and consent - The law does not care about animal consent for anything, or the entire meat industry, pet industry and animal testing industries would be outlawed. Worse, the laws of consent as stated apply to persons, and the law specifies animals are not persons.
Consent is about brain development, not intelligence. https://twitter.com/Kintsug69960493/status/1252306702046724104?s=20
The definition of consent: Permission for something to happen or agreement to do something.
Consent must be:

Freely given

Reversible

Informed

Enthusiastic

Specific

F.R.I.E.S
Animals can consent, but we often ignore them or deprive them of this possibility.

https://hopeferdowsian.com/the-meaning-and-importance-of-consent-for-people-and-animals/
Further to the parallels and differences between children and animal consent - children will eventually further develop cognitive capacity and the memory may be traumatising. Adult animals will not develop this additional capacity. https://twitter.com/Kintsug69960493/status/1253449616919535618?s=20
How do animals consent to one another? Courtship displays. Those are a set of very specific behaviours literally only seen when at least one organism is trying to have sex with another. https://twitter.com/Kintsug69960493/status/1265976073319337985?s=20
Courtship displays of bovines - http://www.animalbehaviour.net/cattle/ 
The definition of consent part 2:

The agreement to do something, or permission for something to happen:
Can animals agree to do things? Yes - here is a horse agreeing to a hug: https://twitter.com/Kintsug69960493/status/1260588718093713409
Can animals disagree to things or not consent to things? Can an animal not give permission? Yes - here is a horse not consenting to a human attempting to jump on her back: https://twitter.com/Kintsug69960493/status/1260588718093713409
Do animals have to consent to having semen collected for profit or being impregnated against their will for profit? No. https://twitter.com/Kintsug69960493/status/1254588817002151937
What is the view of the entire animal ethics committee of Denmark, who's conclusions were agreed with by the Veterinary Council?

Unofficial produced English translation - https://drive.google.com/file/d/1sAzw96UUDztRv7n6_3C611Bv36O03mWu/view
The entire animal ethics committee of Denmark(and the Veterinary Council) conceded that animals can initiate sex towards humans and can in a sense say both yes and no in regards to sexual intercourse with human beings. https://drive.google.com/file/d/1sAzw96UUDztRv7n6_3C611Bv36O03mWu/view
The entire animal ethics committee of Denmark concluded that they do not think that there is a need for legislation that bans private persons' sexual relations with their own animals.

Unofficial produced English translation - https://drive.google.com/file/d/1sAzw96UUDztRv7n6_3C611Bv36O03mWu/view
The entire animal ethics committee of Denmark concluded that there is an important opposing consideration to show respect for other human beings' sexual preferences and for a sexual minority.

Unofficial produced English translation - https://drive.google.com/file/d/1sAzw96UUDztRv7n6_3C611Bv36O03mWu/view
The entire animal ethics committee of Denmark concluded that they wish to emphasise in continuation of the above that people who do wish to have sexual relations with animals take a great responsibility, to which they are to be held. https://drive.google.com/file/d/1sAzw96UUDztRv7n6_3C611Bv36O03mWu/view
What is the science behind consent? There are no scientific articles on consent, because consent is a philosophical issue, not beholden to absolutes.
Why do humans need to know more when they consent, compared to animals?
Humans have a more intricate and complex idea of consent, because we care about more stuff and are aware of more stuff. So we need to be presented with more info before we consent to things. Animals care about less, and therefore need less info before consenting.
Consent isn't about the party that receives it (human), that's not the most important part. The important part is the party that gives it (animal), because without agreeing to do something, that violation of autonomy causes harm. That's why consent is important.
Animals still require certain information before the consent is valid. And the responsibility of consequences fall entirely on the human, so if anything goes wrong at all then they are morally culpable, regardless of who initiated sex.
Here is a dog consenting to a petting of the face and head. https://twitter.com/Kintsug69960493/status/1269621077824737283
This one is worth re-stating:

Q. Do humans and animals have the same intelligence
A. No
Q. Then they cannot consent?
A. Wrong

In fact - Consent is not a matter of comparative intelligence, but of development. Adult animals have a developed and mature brain and hypothalamus.
This thread concludes for now. In closing - animals are capable, though often deprived, of making informed decisions about their lives. Denying animals the right to choose and have autonomy within the limits of welfare is a uniquely human affliction.

Research. Learn. Grow.
Note for later - morality of consent
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