The bare minimum of maturity would probably be "sexual maturity" that is "menarche" (for girls) and "spermache" (for boys). So first menstrual bleeding or first ejaculation. That is when your body is technically ready to produce children and which can be as young as 12-13 (on average) year old. Before that you neither have the development of the necessary body parts, nor the prevalence of the hormones that make people want to have sex in the first place.
Also worth noting that the development of both of these is usually not concluded at this point but goes on until the end of puberty by age 15-17 (on average).
So at the very least your reproductive organs need to be ready and you'd need to have sufficient levels of "horny hormones" so that you want and enjoy that level of intimacy and don't find the other sex (or the same sex) just "ugh" and the whole reproductive system as gross. That would probably be the biological side of that.
Though there is still a societal side of that and that doesn't just include laws forbidding to have sex. But in order to make an informed decision you should be aware of what sex is. So what you're getting yourself into. What boundaries you should set, look out for and respect, what's the link between having sex and reproduction, which is not immediately obvious but pretty consequential. What options are available to have sex without having children, what options you have in case something does not go as planned.
So even though a 13 year old could have children they are in a position in society where this is not necessarily a good idea. Insufficient education, insufficient funds, still considered a child and not yet full access to all rights and privileges aso. Though that is at least partially also a societal issue, due to the fact that things are structured, like there might be communities where it's normal that an entire village takes on the task to raise a child and where that is not seen as the responsibility of the parents or even parent alone.
And even if the people in question are physically capable of having sex and properly informed about what that means, what the consequences are and also horny enough to want all of that regardless of all that, then parents and society might still be in a weird position where on the one hand they need to respect the sexual self-determination of the child to make their own experience and where the repression of that can be an invasive act with harmful consequences, while where on the other hand they still have a protective duty for the child and sex usually comes with a situation of vulnerability and without witnesses, so even if we ignore the sex part of it, that might still be a dangerous situation.
Also with regards to societal norms you might cross boundaries that you might not even be aware of. Like idk past societies that valued virginity might render a woman unmarryable if she had sex before wedlock rendering her a liability for their family who might not be able to support herself due to lack of education for women and in consequence the inability to find employment. Or work in porn and prostitution might create a stigma for people pushing them to the edges of society (or it might simply not be a long term career as you might be too old once you're idk 30 or 40 but you're likely going to live much longer than that). Which is not inevitable by itself but consequence of societal norms. Which can add to or subtract from (maternal leave, child protective services, birth control and contraception, medial means to treat stds, etc) risk involved in having sex.
And that's just the average case, which is complicated enough, for people with a physical or mental handicap you probably need to look at that at a case by case basis balancing all these different rights and perspectives where, the drawing of the lines is still somewhat of a negotiation process depending on where you'd set the priorities.