"Consul agent takes part in Raft, so doing infrastructure discovery in your whole environment means every system takes part in Raft"
Consul agent runs in two modes - master and client. From the Consul Docs:
"Client - A client is an agent that forwards all RPCs to a server. The client is relatively stateless. The only background activity a client performs is taking part in the LAN gossip pool. This has a minimal resource overhead and consumes only a small amount of network bandwidth."
The client doesn't take part in the consensus protocol. This seems to be the OPs whole reason for choosing etcd over Consul and I don't believe the OPs claim is correct.