Looking at someone is the same as “killing/raping/torturing”?

You’re misreading the sex slavery verses and not following the linked references. Catherine Hezser, in Jewish Slavery in Antiquity, notes:

Slaves were sexually exploited in both Jewish and Graeco-Roman society. The phenomenon that masters would sleep with and produce children with their slaves is taken for granted by both Jewish and Roman writers. The Hebrew Bible already knows of the slave concubine, the girl sold by her father to be mistress of another man. The biblical patriarchs used slave women to increase their offspring, irrespective of their wives’ feelings. In fact, women are even said to have given their handmaids to their husbands and were reprimanded when they expressed anger and jealousy.