Earlier quoted context omitted.
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?
From my experience its something you just very quickly get used to. Many ballroom dance moves are very difficult to perform correctly with any distance between the bodies (a quick Vienna Waltz really relies on a shared center of gravity). The thing to note with most proper ballroom posture is that the dancers are usually looking in opposite directions which I think reduces the intimacy aspect significantly.
While Bachata is the probably the most visually intimate, I'd consider the Vienesse Waltz to be most intimate in a mechanistic sense; A dominant partner has near full control over the momentum and displacement of his subordinate at all times. As a result, the onus of success lies with the dominant partner with failure resulting in many moments of backseat leading.
Facing anti-parallel makes in someways it more difficult to dance as it creates a blind spot in the line of dance. This contributes to the stress of maintaining appropriate body distance between partners and couples, while also maintaining directionality, in addition to keeping the appropriate amount of pressure on a partner's upper back without betraying a weak control over ones placing. All of these elements must be simultaneously managed without a thought or a moment of hesitation and, should things go awry, must be swiftly corrected in little more than few seconds.