Electrons never reallocate themselves to a single spot. There's no evidence that collapse actually happens, that's just one weird interpretation (Copenhagen).
The entire electron cloud produces an electro-repulsive force that is very real. That is what you feel, there's no small probability about it. This idea that there's some small probability that you hand will go straight through the table is ridiculous.
When you touch a peach, some of your electrons/atoms actually do become part of the peach and vice-versa. If we somehow turned up the tunneling probability, your hand would not go through things, it would simply dissolve into things more readily.