Interesting thread!
It’s not needed to repeat what it has been already said about respect, safety that I strongly agree with.
I would like to add a different point of view.

Healthy boundaries are something human being begins to develop from early childhood when we begin to understand that we are separate entities from our procreators. I mean it’s a totally social construct from my viewpoint.
There it is the focus of the problem. If you are not allowed to learn it, you will lack of it or at least, you will struggle with it.