Not very accurate
"Stallman resigned from the Foundation in 2019 after he questioned whether the term “sexual assault” was applicable in the case of a woman who, aged 17, was coerced to have sex with AI pioneer Marvin Minksy."
The actual quote is:
"You will see in this article that Giuffre was directed by Jeffrey Epstein to have sex with Minsky. Is this equivalent to Minsky assaulting Giuffre? Think about this yourselves. If A tells B to have sex with C, C assaulted B? "
Bear in mind that the woman in question says that Minsky did not in fact have sex with her. So Minsky is being accused of sexual assault because someone was asked to offer him some sort of sexual encounter which he turned down. This mutates somehow into Stallman questioning whether non-consensual sex is sexual assault.
At this point the attackers generally fall back on the "yes, but he's a weirdo" angle.
The fact that it later transpired that the woman was older than 17 just indicates how little basis in real life this whole affair has.
Likewise, Stallmans complaint that "[the] plea deal for Jeffrey Epstein was not only extremely lenient, it was so lenient that it was illegal" doesn't get a lot of airtime.
The Debian devs decision not to support RMS against this is a very weak one but not surprising given how much grief one can get for putting ones head above the parapet on this.