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The gut reaction to the mention of incest more often than not is negative,because the first thing that comes to mind is not consensual sex between siblings, it`s adult-child sex.
Difficult to think that this anything to do with "consensual" .
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I'm not sure where you're from, but if you mention incest where I'm from the automatic assumption is cousin-cousin relationship, which is probably the most benign example of incest. Cousin-cousin relationships are much more common (among known incidences) acts of incest than sibling-sibling and parent-child.
Of course, perhaps the association varies depending on where you're from.