Yes. Only a very small percentage are intellectually impaired, brain-damaged, or affected by a severe mental illness.
The majority of offenders are best understood as poor problem-solvers motivated by the desire to achieve short-term respite from emotional upsets and privations of childhood origins, which are mostly conscious, but sometimes not.
Most offenders are responsible for choosing the strategies they use for coping with pain and upset of childhood origins, although their decisions can be influenced by a desire to reduce recent stress that they may find intolerable. Heavy pain burdens of childhood origins, particularly if not properly recognised (or are unconscious), increase the desire to fix things up haphazardly or quickly. That can result in a reduced capacity for discerning the most appropriate problem-solving solution to be adopted. So improved awareness of childhood acquired tensions and disappointments, separated from the current life events that bring them to light, is important for prevention.
Prevention at this level requires the development of self-understanding and positive coping skills in adults who might otherwise react by trying to gratify unmet childhood needs for reassurance, companionship and love by offending sexually against a child.