I don't think your post sounds crazy at all .... clearly you really got something out of your time with this therapist and that had a positive effect on you, it's natural to feel a sense of sadness when seeing someone important like that go.

I also have a "thing" about touching / hugging people who I don't know very well. I don't even let my parents hug me unless it's a very particular circumstance. I'd say if you're uncomfortable about it then don't feel compelled to force it.