Under what circumstances is it generally not considered sexual assault?

The correct answer is rooted in the fundamental understanding of consent within situations regarding sexual activity. When both parties willingly give their informed consent and are of legal age, their engagement in any sexual activity is typically lawful and acceptable according to societal and legal standards. Consent is a clear indicator that both individuals agree to the sexual act, which negates the possibility of characterizing the encounter as sexual assault.

In contrast, the other scenarios depict circumstances that may lead to the categorization of an event as sexual assault. For instance, if a victim is intoxicated, their ability to give informed consent is compromised, which can lead to a situation being classified as sexual assault. Similarly, prior relations do not equate to ongoing consent—each new interaction requires its own explicit consent. Thus, the presence of consent between individuals of legal age distinctly separates lawful interactions from those that may violate consent and result in sexual assault.