But theologians never held St.Augustine's view was
of the faith or that the contrary opinion was worthy of censure, on the contrary it was freely discussed in the schools.
Theologians have held that BoD is a dogma or at least a Catholic doctrine that cannot be denied. Show me a single theologian of the last several hundred years who has held otherwise.
"Universal and constant consent" only applies after some point where all agree the Church has by then definitively settled the question.
It is not true that the precise specifics have not been laid out in great detail. St.Alphonsus, who himself mentions the opinion of various other theologians and shows this is the proper way to proceed explains the doctrine precisely.
But baptism of desire is perfect conversion to God by contrition or love of God above all things accompanied by an explicit or implicit desire for true Baptism of water, the place of which it takes as to the remission of guilt, but not as to the impression of the character or as to the removal of all debt of punishment [Comment: Hence, Purgatory].
Baptism of blood is the shedding of one’s blood, i.e. death, suffered for the Faith or for some other Christian virtue. Now this baptism is comparable to true Baptism because, like true Baptism, it remits both guilt and punishment [Comment: Hence, Heaven] as it were ex opere operato. I say as it were because martyrdom does not act by as strict a causality as the sacraments, but by a certain privilege on account of its resemblance to the passion of Christ.
Of course, when both guilt and punishment are remitted, the person goes to heaven, whereas when guilt is remitted but punishment remains, the person will be purified in purgative fire before his entrance into heaven.
You will find a similar doctrine in all the theologians and manualists.
It is only today that anybody and everybody makes a pretense to teach his own private opinions as theology without any recourse at all to what Catholic authorities in the field have unanimously maintained. This is not how the Doctors themselves proceeded, this is not a legitimate way at all.