I know this might be off-topic, but are you familiar with ballroom dance? If so, how does one learn to touch in a way that's not to stilted but doesn't, for lack of better phrasing, "overreach" into intimate territory?
Eg Sensual Bachata and Urban Kiz are embracing in a intimate way that can be difficult to get used to, but while it may look very overreaching to most people, overwhelmingly, it's really not sexual at all. (unless the dancers want it to be, which does happen but isn't really the norm or point of the dance)
In Kizomba, the partners are pretty much always in a pretty close embrace. Kizomba is impossible to lead without a contact at lower ribcage/upper belly with the partner. In any other setting, this would be a pretty intimate position, but in Kizomba it is not. Learning to be comfortable with it is part of learning Kizomba.
How comfortable were you in general when it came to Swing?
If you mean skill, I was one of the better dance students, okay at everything and excellent at a few things. If you mean emotionally, I enjoyed it a lot, even when I felt clueless.
Somewhat unrelated experience, but Kizomba also involves a close embrace with a contact at chest/belly and it feels somewhat uncomfortable/risque at first. But as you learn the dance, you have to really concentrate on maintaining the frame so as to be able to lead and follow correctly, and the whole thing feels in fact quite meditative and not sexual at all.
Many ballroom dance moves are very difficult to perform correctly with any distance between the bodies (a quick Vienna Waltz really relies on a shared center of gravity).
The thing to note with most proper ballroom posture is that the dancers are usually looking in opposite directions which I think reduces the intimacy aspect significantly.
While Bachata is the probably the most visually intimate, I'd consider the Vienesse Waltz to be most intimate in a mechanistic sense; A dominant partner has near full control over the momentum and displacement of his subordinate at all times. As a result, the onus of success lies with the dominant partner with failure resulting in many moments of backseat leading.
Facing anti-parallel makes in someways it more difficult to dance as it creates a blind spot in the line of dance. This contributes to the stress of maintaining appropriate body distance between partners and couples, while also maintaining directionality, in addition to keeping the appropriate amount of pressure on a partner's upper back without betraying a weak control over ones placing. All of these elements must be simultaneously managed without a thought or a moment of hesitation and, should things go awry, must be swiftly corrected in little more than few seconds.
In my experience (casual dancer only), it's mostly in the tango where there's potential for overreach, because doing it properly means moving the hips closer to the ground by bending the knees, which increases the potential for upper-leg to groin contact -- that's pretty much where the tango originates from. But it's perfectly possible to dance a respectable tango with less bended knee, if things get awkward with your partner.