If the kids are young enough that they're being dragged along, they aren't going to care much. And it isn't like life is perfect and you can always have someone else watch the little buggers. So, if the kids aren't disruptive, and the parents are okay with the kids hearing the kind of talk you'd hear at an adult panel, that's a valid choice. Nobody on "stage" needs to worry about censoring themselves. They can, but it isn't mandatory.
If the kids want to go, nothing the panel is going to say will shock them. Any kid that's a fan of a show like that is already past the point where a panel is going to say anything worse than that specific show.
There are multiple blatant sex jokes and innuendos.
Angel Dust's pimp is physically, emotionally and sexually abusive to him.
Sex is discussed and sometimes shown, including brief mentions/moments involving: furries, bondage, sex toys, ball gags, blindfolds, collars and chains, and other kinks.
Gang rape is featured as is a character being chained and choked.
Episode 4 is the most sexual. Angel Dust is shown having sex multiple times but no genitalia is shown.
How old should a person be before they're exposed to stuff like this? Because I'd sooner throw my kid's computer out the window than let him watch HH.