I think I mentioned here some years ago that I was a member of SWOP-Seattle (Sex Workers Outreach Project) and SEPIA (Society of Erotic Professionals in Action). I have testified in front of city and state legislatures on sexworker rights, do outreach work with marginalized sexworkers, and, as a dumpy middle aged male, work in the field myself providing useful services to clients. I think I also mentioned prepandemic that I was likely going to pivot into sex therapy work, but the pandemic has derailed some of my plans.
So, yes, I think sexwork should be legal.