Back to the Teri touching Dean matter, I as well agree that you just do not touch your friends in that manor, especially if you are married
Don't fob it off just on Teri. Dean clearly rubs his forearm up and down Teri's breasts in an outtake from HIWTHI. There was definitely a lot of playful groping between the two of them. And yes, when Eugenie Ross-Leming was asked at a chat what Teri did to get that sound out of Dean, she said Teri did something filthy
Although, like the inner thigh rub scene, some intimate touching made it to the episodes.
If you watch the beginning of AKA Superman, Dean quickly slips his right hand high up on Teri as they come through the revolving door. Teri tries so hard to move his hand down. First, just a push and when that doesn't work, she sticks her thumb behind his hand to try and push it down. No good. Dean won't budge. Then she actually grabs one of his fingers to pry his hand away. He just continues to kiss the back of her head.
So, Teri decided to speed up the approach to the elevator to hit the button. She knew once she did that, Dean would have to let go for the next part of the scene. However, stretching way out to reach that button planted her derriere in Dean's crotch area. He had his hands full and full firm contact below. It kind of shows in his face