Age restrictions on pride parades thoughts

Hi! I (22F) amstraight but consider myself a proud ally of the queer community. Two weekends ago I attended my cities pride parade as I have for the past few years. I had a fabulous time as always! But I noticed that there were topless girls and other fetish gear wearers that got me thinking why there wasn't an age restriction in the event. I was with my sister afterwards and I was telling her that I felt weird being around that and kids at the same time and that I didn't think kids could consent to things like that. my sister told me that it basically just wasn't a big deal and that the event wasn't labeled all ages. But I thought even still it wasn't labeled 18+. It seemed like she was questioning my allyship in that moment which was not at all what I was trying to do. I PROMISE I'm not trying to debate or do a gotcha or anything I just am wondering if there is a perspective on this that I'm missing that could help me better understand. Please delete if not allowed but I just wanted to check and make sure I'm still a good ally!!