It seems kind of difficult to me to compare the human societies to the non-human ones. This goes for almost any sci-fi universe. Humans are almost always portrayed as having a diverse cultural scene. The only thing that the humans of one planet may have in common with the humans of another is their biology and anatomy. As has been already said the level of civil liberties in the Imperium varies from world to world. Xenos one the other hand are only seen through a human lens. We see them as having a united and uniform culture for the most part because it is easier. There are some differences and variations but very few compared to the diversity that we see in humans. So it is sorta tough to say that Xenos have more or less rights than humans because we are only seeing them through a human lens.
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