Once upon a time there was a person who did not like to touch people, and also mostly did not like to be touched.
One day someone offered to shake hands, and this person did not shake hands, because shaking hands is weird and outdated.
Then they were sitting in a chair, and someone offered a hand to help them up. But they said, "No thanks, I'm good," Because they did not need help out of their chair.
One day the person looked sad, and someone said, "Do you need a hug?"
"No, thank you," they said, "But the fact that you offered warms my heart."
The person continued to not touch other people, or be touched by others. Nobody took it personally, or accused them of being heartless. Nobody acted like they owed them physical contact. And they were happy, and lived without guilt trips or uncomfortable touching until the end of time.
The End.