The Catalyst directly stated that it embodies the collective consciousness of the Reapers. They consent to Control. I don't know where we get the idea that they're being forced into slavery. The Reapers work as a cohesive unit--it's how they live, like having many arms and one brain. They are sentient, but they are still synthetic and have to function as their units were designed. Shepard can't change how they were designed, EXCEPT in Synthesis, but it also requires altering all organic life as well, which Shepard never received (nor will receive) consent for.
Alternatively, in Control, s/he can accept it as a different way of life and try to reach a compromise with the Reapers, which is an ultimately "Paragon" decision. The same can be said for Destroy, because it gives retribution to the centuries of organics who suffered at the hands of the Reapers, regardless of their reasoning for doing it. Really just up to personal interpretation.
In Control, their AI is being upgraded in their eyes to fit a new scenario and contribute to their cause of establishing peace among organics and synthetics. Shepard isn't above the Reapers like some dictator. They may not even be the "Reapers" or Shepard anymore. They could be a newly merged entity that has gained a prerogative that doesn't involve mass genocide on either side. Regardless, Shepard offers a useful contribution to their "equation", especially if s/he established peace between the geth and the quarians.
It's beneficial for both organics and synthetics. Like the others, it's a decision made for the galaxy, not the individuals (not debating how Shepalyst may or may not threaten the galaxy in the future, because that relies on headcanon.) They were free to make their own choice, and they chose Shepard. Otherwise, they would have just killed him/her.
I know this isn't a thread about the control ending... just felt I should share all of the evidence showing they are always willing participants, regardless of Shepard's decision to destroy/control/synthesize.
I have a number of problems with this interpretation. If the Reapers are fully willing to do whatever Shepard says, why must Shepard upload themself into a new AI? Why can't Shep just boss the Catalyst around?
Collective consciousness can be many things. (For example, it can be awesome boss battle music.) The Catalyst says it's the collective consciousness of the Reapers, but does that mean it's made up of each of the reapers' individual minds, or that it merely can see into the minds of each of the Reapers, and control them if needed? If it were the former, how did the Catalyst exist before the reapers? And if it's the latter, the Reapers aren't consenting; it's forcing them to agree to the decision Shep and Starjar make.
They are sentient, but they are still synthetic and have to function as their units were designed.
Just like the Geth did, and like EDI did.
Oh, wait, no, both the Geth and EDI went against their original programming as a part of becoming truly sentient.





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