I am happy for you and glad your T was able to recognize it was helpful. I don't think there is anything wrong with touching in the least. If it is not sexual and both the Therapist and the Client agree and are comfortable I don't see a problem.
The times my T has been so close that our feet touch or the streak we went through that included happy hugs, sad hugs, relieved hugs, etc. it was so healing and was much needed because of how foreign it felt. It was good to share hugs over any emotion.

It's good to see you so happy and I bet it's so amazing that you can feel those good things outside of her company.