At a general level, no, succulents do not want to be touched. One, some species like echeveria and graptoverias do not like touching because they will lose their powdery coating which is their natural protection from the sun. As such, they will experience discoloration. Some must not be touched at all because of their white, liquid film on their leaves. And of course, the spikes on spiky succulents are already enough indicators that they do not want to be touched.