It was a terribly misjudged relationship - though Chomsky was in his late 80s and past it by then - but there is not one iota of evidence that Chomsky "raped kids", and I think that highly implausible. Why make such a childish, unfounded slur?
I agree there is no proof, but merely calling it misjudged is too forgiving. I have had a lot of respect for Chomsky and his moral stance in life, so this relationship to Epstein was gravely disappointing. He tried to justify it a long time ago by saying Epstein was out of prison and had paid his dues, and that it was intellectual curiosity or something like that, and on paper I agree with this, but it was clear Epstein got off easy and in hindsight it should've been clear to the people around him he had never stopped. I don't think Chomsky raped anyone for what it's worth. But it's a big stain on his legacy.
I haven't seen any allegation that Chomsky raped anyone, let alone kids. But Chomsky was quite close to Epstein and some of their leaked conversations tarnish his reputation quite a bit, irreversibly IMO.