My rules
No mouth kissing
No bare skin contact inside the shoulder and below the neck.
These are general rules that I have occasionally broken. When I was road tripping with a friend 50 years ago, we once got stuck in an apartment with only one full sized bed. We were there for about a month and it seemed okay at the time. It felt like sleeping over when I was a kid.
I have also had leg skin contact with guys in a crowded hot tub. I was wasted at the time but I still got out pretty quick.
Hugging is fine as long as all parties have a shirt on. I am sure I have not held a man's hand since my dad held my hand crossing the street. I would kiss my grandsons on the mouth but they wouldn't be happy about that.