I think your questions and suppositions are reasonable. I rely on my working knowledge and experience with various types of tickle videos to present a different point of view.
Rape: I know of no one in the tickle fetish industry who shoots rape of any type. Consent is key to invalidating a charge of rape. Anyone shooting rape will go to jail.
Rape Fantasy: I don't know anyone who shoots rape fantasy as a part of tickle videos. Rape fantasy is not illegal (in the US to my knowledge), but I know of no tickle video producer who uses rape fantasy as a motive for their videos.
Forced Orgasms: I have shot a few of these videos to capture the comparison between a lady's ticklishness before and immediately after orgasm because some ladies for the tickling more unbearable when their self control is lowered and their sensitivity is increased right after cumming. Some others may also shoot forced orgasm tickle videos to widen their market appeal. I think the work "forced" is used to connote that the orgasm is given to the bound woman by someone else who controls her rate of stimulation and does not represent a non-consensual act of violence or debasement. I do not know of any tickle video producer who shoots forced orgasm videos with models who do not clearly agree to the details of their performance in the shoot. For the context of shooting tickle videos, i do not believe the "Forced Orgasms" are in any way connected to rape.
Penetration: I do not shoot penetration scenes. It is possible (I'm not certain) that penetration while bound could create a legal hazard in some more conservative states (based on those stats' old laws still on the books). I believe that European production companies may be at a lesser legal risk on this. Again, based on prior consent and the model having a detailed knowledge of what she will perform, this does not fit the definition of "classical rape".
I think it would be helpful for more producers to contribute to this discussion.
JD