I only like to hug my kids, sisters, and husband. I don't like hugging my mother because she is clingy and it feels like she oversteps my personal boundaries. I 1/2-ass hug my in-laws because they are a huggy family, but I really don't like it.
When my HFA daughter was born, she did not like to be swaddled and really didn't like to be held much. This worried us- it's not "normal", so we had her sleep in bed with us and she had constant physical contact with us- I carried her around in a sling too for most of the day. I believe that this did indeed help her become less sensitive to touch. She has never been a huggy kid with us- she has to initiate it or she pulls away, but she does like to hug her brothers and sister. She also HATES to have her hair brushed of fixed.
Like me, light touch really irritates her. Awhile back, I read that using a brush(soft bristle boar kind) to brush a child with an ASD all over their body, will help them desensitize to touch. We don't do that with my daughter, but I actually love to be brushed abd it helps meet my sensory needs. I know it sounds weird, but it makes me feel better, calmer, etc.