SPOILER
Unfortunately, the 1st few times they did it is non-con/r*pe.
As for the wholesome part (this just how I see it):
- both of them needed emotional and social healing (especially the esper ML)
- the MC and ML worked out their differences in culture (the ML was raised to kinda think that r*pe guiding is alright by their government for guiding efficiency), meanwhile MC was raised in civilian culture where they were blocked from knowing the true guide/esper system (which basically meant espers/guides we're raised kinda inhumanely) so the MC corrected that and a lot more of their wrong culture
- after that comes their healing from each other and from the government treatment, this was especially apparent in side stories because ML was separated from his family at infancy, so MC did something to make up for ML's lost childhood

I just finished the novel, it was so wholesome you'll understand how inhumanely the espers are treated that the MC tried to change the system.
I hope they finish manhwa until the side stories.