In the episode, Kidd reveals he was raped as a child and teenager.
Dr Kidd revealed, '[It was] always a case of people being in a place of responsibility, abusing their power.
'I was raped both ends by men 30, 40, years older than myself, and then by an older boy who I thought was a friend, and then by older men when I was a teenager.'
Fighting back tears, Kidd continues, 'I was a child, and I was being cared for, supposedly being cared for, from the ages of three to six. I was just being myself, being a boy, paying the consequences for it.'
Dr Kidd also spoke candidly about the devastating impact the abuse had on his life.
He said, 'I usually have to medicate myself with medicine that's been prescribed to me to be able to survive a day...without hurting myself seriously.'
You Can't Ask That producer and director Aaron Smith paid tribute to Dr Kidd's 'openness, strength and resolve' in a statement to Fairfax Media.
'Stuart's contribution to You Can't Ask That will have a lasting and profound impact on the audience, helping to reduce stigma and increase awareness and understanding for survivors of sexual assault,' he said.
'We share our heartfelt condolences with Stuart's family and friends.'
The controversial episode featuring Dr Kidd has created an intense reaction from viewers, who have widely praised the sex abuse survivors for their strength.
'It's quite shocking and confronting because every horrible victim-blaming question you've ever heard gets asked in this episode,' says Binge List TV podcast host Matthew Denby, who criticises the anonymous questioners who submitted the comments, describing them as 'just appalling.
'But to their credit, the survivors of sexual abuse featured handle it extremely well, and they shame the people who ask these questions by telling the truth and busting these ridiculous myths that still persist about people who have been sexually assaulted.'
There is no suggestion that the recording of the episode was related to Dr Kidd's passing.
If you, or anyone you know, is seeking support contact Lifeline on 13 11 14 or visit lifeline.org.au.