My discomfort wasn't with the scene's sexuality or the use of an animal form. It was the juxtaposition of a smaller, to my eye cowering, figure and a partner who abruptly turned into a thousand pound bear and said that when he's aroused he has trouble controlling himself. I'm pretty sure I'd have much the same reaction if my character had agreed to a romantic assignation with Bruce Banner, and he abruptly turned into the Hulk. Larian could have utilized the bear form in an encounter that was playful and/or tender (affirming the underlying humanity and mutual concern of both partners) rather than rooted in what felt to me like physical intimidation.

Perhaps this scene was designed specifically for Halsin and Astarian. However, as someone who views consent more as an on-going dance, rather than one partner's just saying "OK" and praying that the other partner's admitted lack of control doesn't result in them receiving serious physical injuries. What's funny as a cut scene between npcs, isn't necessarily funny when you subtitute a player character hoping for romance into scene.