Many complaints against prostitution also apply to trading labor for money/shelter in general. People just have a stronger emotional response.

Emotional responses are rarely a good foundation for policy.

Prostitution should be legal with safety regulations. All labor should have protections, unions, and such, to protect them from being abused by the wealthy.

Some specific things would probably remain illegal or disallowed, in the same sense that you're not allowed to work construction without safety gear. People can wear condoms as easily as hard hats and hi-viz vests.