Generally Yes. It depends who and how. My issues are more proximity and motion than the touch itself. It is distracting and that feeling of pressure takes up all my attention diverting attention away from work, socializing or the general environment. My mind will start saying, "my arm, my arm, someone is touching my arm" and anything they may be saying is completely lost. If anything it's the invasion of personal space and the crossing of boundaries.
My attention will often hyper-focus on every movement that happens in the surrounding space; if someone scratches their nose my body will turn towards it, if someone coughs my attention is diverted, every motion and sound... The more the environment falls away and I focus on a subject, work etc, rather than the people in the space, the more any touch becomes startling.
It also depends who it is. Friends and family get passes most of the time, sometimes its OK, sometimes even enjoyable, other times its just grinning-and-bearing, but strangers just need to stop being all touchy feely. When a stranger is all touchy it feels wrong, like they are power tripping, and often puts me in a fight-mode making me hostile.
Other times I just don't get the point. Someone put their arm around me the other day and it completely confused me. Why would they do that? They do not know me, we've talked once. Clearly they are comfortable, are they testing to see if I am as well? It's baffling. This was particularly baffling as they are AS and I am pretty sure had assumed I was as well.
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forwards not backwards, upwards not forwards, and always twirling, twirling, twirling towards freedom