Depends heavily on the use case. Indeed many tasks humans carry out are done without touch feedback - but many also require it.

An example of feed-forward manipulation is lifting a medium-sized object. Classic example is lifting a coffee cup. If you misjudge a full cup for empty you may spill the contents before your brain manages to replan the action based on sensory input. It takes around 300ms for that feedback loop to happen. We do many thing faster than that would allow.

The linked article has a great example of a task where a human needs feedback control: picking up and lighting a match.

Sibling comments also make a good point on that touch may well be necessary to learn the task. Babies do a lot of trial-and-error manipulation and even adults will do new tasks slower first.