The thing about consensus is that is based on decisions made by a unanimous group of individuals. That's not easy as you said, but it is acheivable. First, the group has to acknowledge the rights of individuals, so rules have to be made so any individual surely feels that his voice is heard without going against the rights of others. That's priority #1. Then, people must be educated to follow these rules. That's quite complex because frankly there will be individuals/groups that would want to impose their opinion, because that's human nature.

Then, any discussion about proceedures, policy, decision making surely could follow the path of consensus.