@Ronni, like you, I'm a tactile person. I grew up surrounded by a warm, tactile extended Italian family. I don't think an aunt, uncle, older cousin or grandparent ever spoke to me without gently touching my shoulder, back, hair, cheek, or arm. It felt loving and natural.
Truth is, I barely even notice that I sometimes touch people (mostly on the shoulder or arm) when speaking with them. It's my way. People don't seem to get the wrong impression, perhaps because folks like us aren't particularly rare.
I'm guessing Ron comes from a more reserved family and therefore misinterprets your casual gestures.
Kudos to you both for sorting it out in therapy. That's the true sign of a healthy couple.