Personally I feel it's a shame that; either people are lovers or friends without much in between. I've heard in edwardian times it was normal for friends to share a bed and even cuddle. There are reports of strait married males cuddling in bed because that's just what humans like to do.
Whilst I'm all for non-sexual contact I'm also fine with all sexual contact (within reason). There are a few things I hate; even though I'm a bit heavy some people do pick me up, and I feel slightly panicked when that happens. I also dislike unsolicited touching, tapping me on the shoulder, or patting me on the butt. I also don't like being physically close to certain people; for example when people stand too closely to my face when talking to me.
I'm generally quite needy, I love to be made to feel loved and I love touching, hugging and kissing when in a bedroom situation. I also don't really like being groaped by people who I don't know that well, but I'm sure most people feel the same way.
All Normal right?

I slightly panic with some sexual touches too. And I get very uncomfortable when people are too close to my face when talking to me except a very tiny handful of people that I really really trust. The groping thing would terrify but I haven't had that happen. But I understand what you are saying about feeling needy and loving to feel loved. In the bedroom I have a harder time because sex can be awkward or uncomfortable for me but I really crave deep platonic hugs from the tiny handful of people that I really trust deeply. And I like the non sexual kisses but sometimes it feels awkward too like if I don't trust the person as much or if I am not as close to them. But I don't have any issues or awkwardness or problems at all with cultural kisses and hugs like when I was in South America and people just greet each other that way.