Jacob surely touched God....he wrestled Him and told Him what he wanted...and got it!
This idea of do not touch God or he will put your thigh out of place is another false church teaching. Instead...touch God and allow Him to hurt you...then get blessed.

What is God...what did Jacob wrestle with? God being all in all...is all. But not as we see it. Jaco wrestled with what we..the conditioned mind perceive as God...everything including what we see. But Jacob wrestled and "wiped" away that what we see...and saw the face of God....truth and reality and abundance of all that...and Jacob took it!