I think one of the top ways that patriarchy screws up men's lives (and there are many to choose from) is that it teaches that the only acceptable touch is sexual touch. That's why you can't touch your bros too much, because touch is sexual and that would be "gay." 🙄 Meanwhile humans are one of the most highly social animals on the planet who literally suffer mental and physical problems if they don't get enough touching as well as social interactions. It's why solitary confinement is a totally barbaric and unethical punishment. It's literally a form of torture.
I completely agree that the little moments of everyday intimacy and kindness are the glue of relationships and people who think that sex and grand gestures alone create a meaningful and fulfilling connection are deluded. Also, a lot of non sexual touch helps to get her in the mood for the other sort.