I think it’s important to look at the relationship in terms of its historical context. Don’t forget that in the times when the myth was first conceived, consent wasn’t exactly a concept.
We’re talking about Hades, a mythological figure whose male contemporaries in lore got their ladies by such tricks as disguising themselves as their husbands (Zeus and Alcmene), lulling them into a false sense of security by appearing to them as animals and then kidnapping them (Zeus and Europa), and literally chasing them and holding them down as they had their way with them (Peleus and Thetis). Rape was the norm in these myths. Historically speaking, women of the time were kind of just expected to go along with whatever a man expected of them. As in the case of the aforementioned myth of Peleus and Thetis, the woman essentially belonged to the man (Thetis was given to Peleus by Zeus), and a man could not violate his own property.
It may not have been recognised as rape at the time - remember that consent is, as previously mentioned, a comparatively recent idea - but actions such as those of Hades would not necessarily have been viewed with such repulsion as we view them today.
So, in short: no, it wasn’t consensual. The myth of Hades and Persephone, whether or not you view it as a rape or a kidnapping - the translation is not 100% clear on that point, although there doesn’t seem to be a sexual element to the initial event - is definitely not the romantic tale that a lot of people these days like to perceive it as being. The most empowered reading possible whilst remaining faithful to a translation and not being overly fanciful with modern interpretation is that Persephone was kidnapped by Hades but later consented to being his wife by eating the pomegranate seeds. That’s as much agency as we can accurately give Persephone; there are modern feminist readings which claim that Persephone consented to being with Hades, or that she ran away with him of her own volition, but that’s not backed up by the actual texts if you’re looking at it from a historical viewpoint. It’s a much more palatable version of events in alignment with our modern perspective and beliefs, and it’s certainly a way of using the text to ask questions about consent and agency in a modern context, but it’s not the version of events that the Ancient Greeks needed to hear in order to adhere to their own ideology.
However, in comparison to the other marriages / relationships described in Greek mythology, and taking into account the marriage of Hades and Persephone within the context of the society in which the myth originated, then yes, it’s comparatively chill as fuck. Both parties were entirely faithful according to most canons (Orphic tradition differs slightly on that point) and despite their childless marriage, they are usually depicted as being a very successful marital unit, jointly ruling the Underworld with equal power.
Although Persephone’s agreement to her initial entrance into the marital contract is somewhat sketchy and really does depend on the nuances you give the text, and whether or not you choose to read it historically or with a modern eye, her actual role as Hades’ wife is much more elevated than might be expected. As queen of the Underworld, Persephone was not merely an accessory to Hades’ rule. Instead, she took an incredibly active role in ensuring that people who were meant to be dead were, in fact, dead. She became hugely feared by those who worshipped her, on a level equal to - if not even higher than - Hades himself. She was no victim of circumstance according to her cult; she was a venerated, dreaded queen, and, possibly more than any other goddess - even those goddesses who never lost their sexual agency, such as Artemis - she became a hugely powerful female figure in her own right, away from her role as wife.
tl;dr if you were to try and get someone to marry you today in the way that Hades married Persephone, you would be rightfully put in jail for a very long time. However, times were different back then, and it’s important to keep that in mind - be aware that that shit wouldn’t fly today, but remember that, unfortunately, the acceptable elevation levels of that aforementioned shit have not always been as they are now, and within the now repellent confines of that archaic context, Persephone got a pretty good deal.