I am not that huggy with people I know and like - I certainly do not want to hug a therapist.
I would think if a therapist was getting all put out because I left abruptly - they can deal with it with their own therapist. I see time is up, toss money on the table, and walk out. The woman has never said anything about it. Sometimes she used to say goodbye as I walked out, I think. If she did, I think she has finally stopped. The woman did shake my hand at the first meeting and tried to do so thereafter - but I declined after the first time.