That depends on your definition of “touch.”
Obviously we can touch things. You are touching something right now that’s preventing you from falling to the center of Earth’s gravitational field. The thing is, “touching” may not mean what you think it does.
If you play pool, “touching” may conjure the firm crack of cue against ball, but if you’ve ever flown a kite, you know you can touch the air in a much squishier way.