In fact, I don’t touch people in social situations because I have a tendency to shyness. I do, however, find hugs and casual physical contact from other people pleasing and comforting. It’s a perfectly normal form of interaction.
It would lessen the enjoyment I take in spontaneous social interactions, including physical contact, if it were codified and tabooed in the way you seem to prefer. Thankfully, the people I have asked about this in person seem to agree with me.