Yes, but Milo still deserves criticism for (as far as we know) not getting the help and instead having these conversations in a public setting, where it's totally inappropriate and there isn't always room for feedback. A psychologist would explain to him that all the things he's said to try to rationalize what was done to him - that he was the aggressor, that he was mature enough for it, etc. - are straight out of the abuser's playbook for gaslighting their victims. And by perpetuating all these myths in the public eye, he helps make it easier for pedos to justify their actions to themselves.
This whole situation is actually quite sad. Milo was obviously groomed by an adult predator who filled his head with all sorts of bogus myths to make him think that what was happening to him was normal. And he's latched on to those myths as a coping mechanism ever since.