I definitely agree about the embarrassment thing.

I'd also add that people might feel silly asking for what they need.
I wouldn't be able to ask someone to sit with me or give me a hug (depending on the policies in touch). I'd feel silly and childish asking for it, and I'd be worried the person would say no, and I would be mortified.
If it was offered as an option though, I'd be much more likely to say yes, because I'd know that the person offering it wouldn't then say no, and if they're offering it they're probably not going to judge me for finding it helpful.