Electrons don't physically touch each other let alone nuclei so in a way nobody and nothing has ever touched anything else outside of maybe a particle collider and extreme astronomical phenomena and maybe not even that depending on your definitions.
the physical barrier you consider part of your skin is actually just the electromagnetic field of your surface molecules. so if you want to test if somebody is real, all you need to do is find a magnet of the opposite polarity of their skin surface, and throw it really hard at their head to see if it passes through (holograms repel them since reptilian technology isn't based on earth physics)
Sure, if you change the definition of "touch" to mean something different than it has always meant. Electron clouds repelling each other is what we normally experience as "touch." Just because we didn't used to know that's what was happening at a microscopic level doesn't make it any less of a touch.