Depends on the context and there is a social dimension to it as well. For me, hugging/touching/hand-holding is nice as part of romantic or sexual intimacy, but usually threatening otherwise. I have learned up to a point to do it when comforting NT (or near-NT) people who kinda expect it, such as parents/siblings/very close friends when they are having a bad time, but don't really like that.
I really dislike casual hugging/holding/kissing that NTs seem to do; if you are not my partner/family/close friend you do not mean enough to me to let you invade my personal space like that. For this reason, my (ex) Sister in Law's 40th birthday party was a nightmare; my brother's ex-wife's family were all very kissy/touchy/feely and Jeff was a bit like that too. I felt like shouting out:
You are only my family via my brother. You have NO RIGHT to consider yourself familiar to me unless it is mutual between US, not via a third party.
It was ten years into their marriage before I trusted my sister in law enough to kiss her on the cheek when saying hello; again, when Jeff married Sue, I felt it an insulting imposition that I was supposed to love her enough to let her invade my personal space just because of something they had together, of which I was not a part.