Well I suppose its dependent on the laws of time. Lets say 50 years for baby yoda is approximately 3 years for humans, now its definitely pedophilia if Mando bangs a 3 year old. HOWEVER if intergalactic law is instead based on a (human) standard unit of time, and assuming the age of consent is 18 then id say Mando is clear to bang baby yoda. But then that begs the question of consent, how can a being with the mentality of a 3 year old human understand and give consent to something such as intercourse?

In conclusion, depending on intergalactic standards of time, Mando could be cleared of pedophilia, however he still opens himself up to a slew of ethics and moral violations by having intercourse with a mentally underdeveloped person(s).