There’s many scenes of Jesus being naked! And the crucifixion, as Brant Pitre documents in Jesus the Bridegroom, must be understood as a wedding, so it’s perhaps- on some divine level- a sexual event as well. (Note: We don’t make up theology… these are Jewish people writing 2000 years ago.)
All the condemnations of the human are coming from- or through- clergy. In the Bible there is only love for the human.
Whether you, a human, touch other humans is never the focus. Whether you love them . . . that’s the focus.