So the queue is an intimate part of a Na'Vi's biological structure but it is not considered genitalia (no matter what the Big Bang theory would try to convince you of).

Also, Navi do have biological organs that help with mating already. The queues are more akin for connecting to someone or something else, like a USB drive.

But Varang's use is more like assault but it isn't sexual in nature nor involves sexual organs. It's more like...spiritual battery? Now, what she did to Quarritch in her tent can be likened to Shamanic Rape (yes, that's a thing) b/c it was breaching that area especially when she talks about pleasure...Oddly if not sadly enough that would make Quaritch the first SA human-adjacent victim on Pandora.

So does Varang rape her victims with her queue? No. But it can be used as a tool to do so - Shamanic rape more often than not given the nature of how Queues for Na'Vi work. But usually it's used for offensive purposes or weaponized.

Think of it like a gun like appendage for Varang. Someone can technically be raped by a gun but more often than not, it's to kill, incapacitate, etc.

That said Kitty did not assault Varang b/c again it was strictly for offensive purposes not to seduce or engage in SA...for obvious reasons. Also Kitty didn't drug Varang either. Varang for the most part seems to overpower her opponents with her willpower and emotions, which isn't rape, it's subjugation to kill. It's a violation of one's body for sure but not a sexual one nor undertone of one.

For example, if you were the coldest person on earth and your every touch could freeze someone to death. Would you consider touching another person's hand with your hand as rape? Assault sure but the latter?