Slightly off-topic: I’m a professional dancer, we specifically train hugging. For contemporary dance, because it’s an important skill for a lot of partnering moves, like jumps involving two persons (an example of partnering: https://www.youtube.com/watch?v=T1BbxTWsoO4&t=13s ). One important detail I found interesting is that for contemporary dancers, it’s not only about the arms, but how to use the whole body for the…
I know this might be off-topic, but are you familiar with ballroom dance? If so, how does one learn to touch in a way that's not to stilted but doesn't, for lack of better phrasing, "overreach" into intimate territory?
In Kizomba, the partners are pretty much always in a pretty close embrace. Kizomba is impossible to lead without a contact at lower ribcage/upper belly with the partner. In any other setting, this would be a pretty intimate position, but in Kizomba it is not. Learning to be comfortable with it is part of learning Kizomba.