Empathy is not required. We need to do away with that assumption. All we need is to be pragmatic - which, to some extent, might mean finding ways to make it easier, or less stigmatized, for men to indulge in the services of sex workers - as one example.

That said, rape should always be punished. Again, empathy is not required. If a man commits rape, they have proven themselves to be dangerous, and must be quarantined or at the very least, rehabilitated in some way. If their "need for sex" caused them to commit rape, that does not make them any less dangerous. And in fact, if they continue to "need sex", then it makes their likelihood to rape again all that more probable, and the need for punishment all the more obvious.

But again, our response to rape should have nothing to do with empathy. All we need to do is find pragmatic ways to protect ourselves. And this should be a combination of punishment and quarantining (i.e. prison), as well as preventative measures, like finding healthy ways to meet everyone's needs (sexual or otherwise).