I'm NT. For me, and for most NTs I think, it depends on who's touching me and if I expect it and where the touch is. (Mind out of the gutter!
)
So let's say someone touches my forearm. If I see the person coming, and I know this person well enough, it won't bother me at all that he/she is touching me. In fact, if I'm close enough (emotionally) to the person, it's basically the same sensation I get when I touch my arm with my own hand.
If I don't see the person, I might be startled, and the feeling might be something like what's described in the first post. I'm a bit of a jumpy person, so I might... well, jump.
If it's someone I neither like nor dislike (like, let's say a new coworker or someone of that nature), then the sensation is, again, something like the description in the first post. I wouldn't expect someone I don't know or who isn't emotionally close to me to touch me (without a reason, anyway). Again, I might jump, or shrink away, even if I see the person coming. Even if I don't dislike the person, there's an instinct in me that says, "You're not supposed to touch me."
So, basically, if it's my husband or one of my sisters or my grandmother or my dad, etc., it won't be weird at all. If it's a new coworker or a doctor (even though it's just part of the job as a doctor) or someone along those lines, I'll be a little uncomfortable.
_________________
My name is Valerie. I am neurotypical. I have a sister (11) with Asperger's and a brother (20) who has been described as both "severely autistic" and "mentally ret*d."