Long time judoka chiming in. Both BJJ and judo are impossible without constant touch. The only time you're not touching someone during practice/competition is when you're bowing to one another or are doing some solo warmup exercises. I've been doing this since I was 6, so I can safely say that this greatly increases tolerance/comfort for being touched by complete strangers.

When teaching children or adolescents you sometimes get strange looks from parents, because things can look a bit weird in ground holds.