I think there is a huge difference in touching someone (insisting on a hug) who does not wish to be touched and other ideas of what is rude or not. I , for example, hated the t walking to the door at the end. I thought that was too intrusive and got too close to me. I never (until she said she thought it was polite to walk someone to the door) would have given her staying seated a second thought -I do not want her walking to the door with me. I want her physically far away from me. I now have it so she stays seated until I leave.