You write that you feel judged, but your post is full of judgments of other people. I did not go through the whole post, but just at the beginning you judge other people as rude twice.

Recoiling and making a face is not a good way to convey your discomfort. Yes, you should tell people that you do not feel comfortable when being touch and could they please avoid touching you. That lady did not deserve being made a face at. She probably was trying to establish a connection in a way that felt natural to her.