YES! This has been a problem for me - try being on the [American] football team! Tackling or blocking, I don't have problems being on the receiving end, but me initiating it? I would always go up to the drills thinking, "I'll do it right this time..." then when it's turn for me to tackle/block... I couldn't. It wasn't enough for them to tell me how to do it, it was getting my arms around them, or even mentally orientating myself to make contact with others. It just didn't happen.
Someone gives me a hug. Okay, yeah. Me give them a hug back? Uh... right. I can't do it as well. It has to be awkward for me for some reason! I do it so little, and most of the time when I give someone a hug back, it doesn't work out as well. Regardless of the gender.
Of course, when I considered Asperger's, it all seemed to make sense, so yeah. The part of being on the football team not knowing that, ticked me off so much.
So... I'd advise just not trying, I guess. Hugs, on one hand, that might be something worthwhile to figure out or work on, but besides that, I don't think anything else is worth the effort.