If you are uncomfortable it is wrong. All of my T’s have done a quick, social hug at the end of the session. A couple would hold my hand.
Current T uses a lot of touch with me. Hugs, holding my hand, putting his hand over mine, putting his hand on my knee... BUT he is ALWAYS watching very carefully to judge if I am comfortable with it. ANY sign I am uncomfortable and he stops. I originally initiated the hugs and mentioned I would find it comforting to have my hand held. He reached out to my hand (without asking but watching carefully) the first time. He asked permission to put his hand on my knee. Now touch is becoming more “normalized” between us (we are both very touch oriented people) but it is always used with extreme caution and respect.