If I was actually a person sitting in that tavern, I would probably do my best to never end up in front of any of these nobles. Then again, if I was actually a person sitting in that tavern, my goal would probably be that already but with additional panic now because the magical fantasy world does not have anti-anxiety medicine. And then I'd wonder if the Telepaths only can tell if the truth is being said, or if they can straight-up tell thoughts, in which case, I sure hope those Telepaths like porn given the content of most everyone's heads.
Truthfully I'd probably seek an answer that's not given - trying to set up a bunch of rules so that the Telepaths can be used in a situation-by-situation basis, either when someone specifically offers unimpaired consent (no being drunk, no being unduly pressured into it, etc etc) to having the Telepaths read their mind or when someone's rights have already been taken away to some extent (e.g. convicted criminals) or sufficient evidence has been procured for a warrant (treating 'their head' as a space much like 'their house').
A lot of the time the truth - and the best answer - is set somewhere in the middle instead of at either extreme.
I'd also probably want to know more about the Telepaths themselves. Is it something they can 'turn on' and 'turn off'? Could an amulet or the like be enchanted to signal when their powers are 'turned on'? If their powers are 'always on', they likely get a hell of a lot of noise they have to work through. And in that case, they basically need to be treated as having an illness as to keep them from mental harm or trauma. It's not going to be just if the needs of the Telepaths are ignored. This doesn't mean packing them all away to some monastery but perhaps not having a Telepath standing smack in the middle of somebody's court and instead working to ensure that they'll have the option to only ply their services in relatively small meetings.
People and societies are messy things, rarely able to be boiled down to a simple yes or no, after all.