Given we’re establishing guidelines that people will choose to follow in order not to be jerks, “don’t rape people” is a perfectly good rule. You said yourself that for group-enforced guidelines, the group has to judge (and thus reject “Alice speaks in a creepy monotone, I am creeped out, she must stop”-type complaints); it’s hard to see how to do that if every one else disagrees.
Given we’re establishing guidelines that people will choose to follow in order not to be jerks, “don’t rape people” is a perfectly good rule. You said yourself that for group-enforced guidelines, the group has to judge (and thus reject “Alice speaks in a creepy monotone, I am creeped out, she must stop”-type complaints); it’s hard to see how to do that if every one else disagrees.