This one is one of those weird holdouts in my own collection of behaviours that is reported atypically from my own experience so universally I'm dumbfounded.
I come from very close folk, we hugged, my rugged father says he loves me... my sister tickled me (mercilessly) (and it was not ok)... my mom squeezed me like I might get away... every day of my childhood.
Mind you "touch" is still a very real and very upsetting input for me... Tags have to be cut off; yogurt-pudding-whipped anything does not go in my mouth; but touching people is not just OK, it is...
...it is...
...I'm gonna go with "anchor" It gives me another tool to communicate... something... meh... I would say I use my superpowers to measure their temperature and heartrate, to check if they are relaxed or taut, if their skin is still or twitchy... except I don't think I can cognitively do any of those things. Maybe I can, but I can't percieve it.
It is good, but it is as UNTRUSTWORTHY as any other communication tool: I absolutely refuse to purchase any large ticket item from a female. I don't mean to be sexist, but if she touches my arm, my brain shorts out and money starts shooting out of my wallet like a broken ATM (in any stupid movie in the 90s with a broken ATM)...
My ASD boy gets the same treatment I got... Sometimes the quite of our house gets errupted by "HEY," my wife will yell, "YOU COME HERE AND GET LOVE FROM YOUR MOTHER!" and then a scuffle... and then the inevitable hugs as she catches him... and I hug him and pick him up half a dozen times a day... he doesn't dislike it... he is like me that way... but he needs to PREPARE for it.
NO ONE is allowed to tickle him, Daddy is his enforcer on that one.
...he does a Lean (like a Boxer or a Doberman if you know dogs)... anchoring... exactly the way I do...
We can't REALLY be the only two that do this...