I relate to not feeling worth of a hug or comfort from another, so I never ask for one (nor do I think I could), but most of the time will take one if offered... I wish I had asked my previous T for a hug at our last session, but I was too chicken and she didn't offer because I had told her towards the beginning that hugs made me uncomfortable (it was really because I just couldn't ask for one and realized I had kinda asked for one in the moment, so I back-peddled and denied the request by saying they scared me)...
I do go home often and wish I had asked for a hug, or t had offered one... not sure this t ever will, or that I would be able to ask for one...
So long-winded way of saying "yes"...
Maybe asking for one would be a good step in the direction of realizing you are worth it? (that statement is as much for myself as it is for you, please take no offense... you really are worth it).