Well... it's hard to go on about SA and rape when talking about incubus and similiar.
Since the beginning they are meant to be those creatures who trick you into sex usually in your sleep to take your soul, morally questionable yes but you can't really go on about a incubus taking advantage of it's sleeping victim or expect a creature focused on sex to follow the morals of humans, they have sex to steal their souls and that was even before Manga existed, so complaining just because the Manga follow historical beliefs doesn't really make sense.
You should take it out on the actual history at this point rather than the Manga following a preexisting concept of demons tricking you into sex.
You can't report to the police that a demon in your sleep violated you.
I'm not saying this isn't SA and attempted rape or that it's right, but those are incubus/succubus.
A concept that existed way before of this Manga, going on about how creatures who exist purposely for sex to steal souls is like go and complain that an alien parked their ship in your front yard.
It's a concept that existed since who knows how long so complaining about the Manga about historical beliefs in my opinion doesn't make sense especially when talking about a Incubus.
hm idk how to feel, this definitely has SA and rape but, it somwhow felt really sad and cute hmmm idk
-> https://www.mangago.zone/read-manga/inma_kun_wa_oshigoto_dekinai/uu/ibx_chapter-4/pg-27/