My T does not hug me. However, I not sure if she would refuse to hug me is I asked for one. Its just not something that is part of our interaction. I think I feel her support in other ways.

As for the boundary issue..I personally think this is an individual thing. You have to weigh the risk to harm benefit. And like it or not, when in doubt go with what your T thinks is best.

As for the hardship it creates for you at the end of the session, could you give him a greeting hug instead of a goodbye hug. This might help you establish a connection at the beginning of the session and you wouldn't experience such of a drop of energy when leaving.