I'm not arguing that anyone thought it was non-consensual then, because I don't think it's appropriate to try to apply modern emancipative thinking to societies of previous millennia, but one could certainly argue it.
edit: markup
[0]https://www.merriam-webster.com/dictionary/patria%20potestas
Women couldn't vote in the U.S. until 1920. That's closer to today than it is to the founding of the country. These are relatively new and human history is much much older.
Google says ~100 billion humans ever lived ~60 billion since 0 AD.
Let's say since 0 AD, 10% of the average person's lifetime encounters are non-consensual, while the ancient human had 33% non-consensual. These proportions are totally made-up by me.
Anyway, that would give us .33 * 40 + .1 * 60 = 19.2% of all intercouse being non-consensual. It seems like any reasonable estimate would put the number well below 50% just given how many modern people there are.