A tickle can be pleasant.
Or overbearing,
A graze of a fingertip is good from someone caring.
A graze from a stranger can make you uneasy.
The touch of a lover can relax you and have meaning.
A touch from a ex can rouse up resentment.
A poke from a partner can bring laughs and comfortable presence.
Touches have different meanings depending on the delivery,
Fascinating how the same thing can be comforting or discomforting,
Context.