Earlier quoted context omitted.
‘Debate’ does seem to have strong connotations of a rhetorical fight. ‘Discourse’ has been the preferred word among philosphers and other circles that discuss this sort of thing.
"Debate" has a long tradition of meaning a formalized presentation of opposing views, each represented by a person or team, for the purpose of evaluating relative merits. "Discourse" is a much broader term and does not imply formal structure, opposition, merit evaluation, or that advocacy of particular ideas is associated with particular speakers. IMO "Debate" is absolutely the right term for what the advice suggests…
You're certainly right about the long tradition behind 'debate', and yet, it does still carry the connotations I mentioned earlier, to the extent that one would likely have to say "let's a have a fair and honest debate about X" in order to temper some of the unproductive tendencies that tend to arise in a debate.