Bro, we must have read different novels. It's very very clearly ra**. Yugeon calls it ra** and several of his rapists do too. Two of the four abusers acknowledge what they are doing is not right and another comes pretty close. They also acknowledge that they are abusing and torturing him in general. Prolonged physical contact for guiding doesn't necessitate ra** at all. We are given a specific example of a very powerful A class who treats her guide very kindly and considerately. It's established in the novel that abusing your guide physically or mentally is not the accepted norm. People in the novel have become accustomed to death but that doesn't mean that outright sadistic cruelty (like we see from all four awakened at Erewhon) is acceptable.