Yes, any liquid or solid works to maintain contact. Gas eliminates contact. Otherwise you could say shoes prevent contact!

Just like "contactless" payment cards, which for some reason involves the word "tap" as well, even though tapping is the act of making brief contact, and is not required for the communication to succeed, and that successful communication could be referred to as making contact, but I digress.

Things don't even actually touch each other though. At no point does an atom of my stuff make contact with an atom of your stuff, right? things can be uncomfortably close to each other but the Van der Waals forces mean it'll never actually touch. to be pedantic.