This question depends on how we evaluate pain and suffering. Some people view it as inherently bad while others will view it as something that is on a number line, and thus can be cancelled by positives.

From my usual nihilistic perspective there is no objective morality so the concept is null. But considering the concept's usefulness for a functioning society, consent can most certainly be broken. In fact, society is founded on a breaking of consent, considering we are forced into life, forced into maturity, and forced into a life that most certainly entails suffering.