There are ethical boundaries, rules essentially that therapists need to adhere to. And there a people's individual personal boundaries.

Other people cannot enforce what other people's boundaries are. If your T was fine with the amount of support she was giving and you were fine with the support she was giving then i don't see a problem.. although i suppose the issue is muddied by your age as it assumed you're not adult therefore can't make informed decisions for yourself.

Obviously i don't know all the details of your case so i can't really say why your care-givers think that.