I did with one of my first T's. I was having a rough time, and that session was also pretty rough (though I don't know what we talked about anymore as it was almosy 17 years ago). She asked if she could give me a hug before I left. I'm used to quick little hugs, but she hung on and hugged me a bit tighter when I went to pull away. I think I would have been weirded out by anyone else doing it, but I trusted her a lot... like SP's experience, it let me feel a bit more connected and less contageous/dirty/unlovable...
The only other t that ever hugged me was the last psychologist I saw before I moved, and that was the last session before my move. I think maybe my first real therapist might have hugged me once or twice, but they were quck little hugs, nothing that stood out... I'm not a huggy person with most, lease of all with T's (feels way too vulnerable, and lots of body boudary issues from abuse)...