It's an interesting perspective.
As a baby and toddler I was obvious cradled and cuddled by mum and was picked up by dad and rode on his shoulders. At some point that stopped and it didn't seem sudden. I can't say, for example, that it had anything to do with puberty. From then one we we were not a very touchy family.
Presumably because of that I've not found it hard to comply with the current phobia around touch and, in particular, the view from some that any touching, especially in the workplace, without prior consent is sexual harassment. I am also not aware of having missed it.
When I met my wife I found she was quite the opposite - she comes from a family in which touch was much more common and it took me a while to adapt. I also have three children and touch is less common with the older ones but the toddler still climbs on us, asks to be picked up etc. It's nice, but there was never a Eureka moment of thinking it was something I had missed for years, just adapting to the situation.
The confusion of sensual and sexual touch is interesting. Even with my wife there is touch that doesn't lead to sex, something which wasn't true at the start, but then she jokes that one of our dogs must be gay because he enjoys me stroking it.
In conclusion, It's an interesting point of view but I am not sure things are as simple as he makes out.