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Oh sure. Not all of them, certainly, but a good number of friends and I will hug to say hello/goodbye. Some of those guys prefer the handshake-bro-hug variety, others go in for the full bear hug. A handful of them, my oldest friends, are comfortable with cuddling, snuggling, or other non-hug physical contact so that’ll happen on the occasions we get to see each other.
The ecosystem services wasps provide are worth billions per year, and if you’ve got the flowers they need they’re generally pretty docile.