I am very active in my local queer poly and kink communities and honestly consent is easy if you follow three clear guidelines, at least in my opinion and in my experience.

The first is affirmative and informed consent, obtained before any actual activity. Do not say "these are the things I do not want". Say "these are the things I do want, and anything outside of those things is off limits." This is especially important in kink; you just cannot have an exhaustive list of every possible things people might think is okay to do, and if you're restrained or can't communicate during a scene for whatever reason and something happens to you that you didn't think of, if you only provided a list of "don't do these things" and that thing isn't on that list, how was the other person supposed to know? So a clear list of "this is yes" before any sexual activity is critically important to having informed consent. "Here are the things I want you to do and here are the things I want to do." You do the overlap of those two areas only.

The second is enthusiastic consent "a yes must be enthusiastic." Things like "maybe that's okay" or "I'm not sure about that" aren't enough to constitute consent. It must be "I definitely want you to do that thing to me." Anything less is not consent. This can include stuff you haven't tried yet, like "I trust you and I am excited to try a thing with you" is totally enthusiastic consent. But it must be enthusiastic. If you ask "how do you feel about X" and your partner is like "I dunno I guess that's okay" that is not enough consent. This also helps ensure consent isn't accidentally coerced somehow or exploited via some existing power dynamic.

The third is that consent can be revoked by any participant at any time. A yes before does not mean it's always a yes during. Maybe you normally like something but today aren't feeling it. That's fine, and "hey actually not feeling enthusiastic about that right now" is great communication and should absolutely be respected on all sides. It's okay to say no at literally any time.

I know in kink spaces there are lots of different communication and consent models but I think they all broadly boil down to these guidelines and I think they absolutely apply outside of kink spaces to any sexual activity at all. Or even non sexual activity, this is just how consent should work.

Anyways consent is always a great topic and it's something that everyone should take extremely seriously in all cases because it's just critically important.

Something I dont see people talk very much about is the wheel of consent. I think its a very useful tool/framework for talking about what you want and how you want it. Broad strokes overview is thay it divides activities into two axis, touching vs being touched, and for your pleasure vs for your partners pleasure. These are broadly organized into giving and receiving. E.g. if im being touched for my partners pleasure, i am giving. Being touched for my pleasure, i am receiving. If im touching for my partners pleasure i am giving, for my pleasure receiving. The creator (betty something, forget her whole name) has some videos up thay get into the specifics and the nitty gritty of it. Her video on giving vs receiving is really useful IMO, because its one of the few places ive seen recognized the deep vulnerability needed to receive. Giving is easy, it doesnt require vulnerability to nearly the same extent.