Judith Herman is fantastic in many ways, particularly in making a case for complex trauma and complex PTSD. Trauma is quite a new discipline though and different types of therapy approaches view physical touch with varying levels of helpfulness.I read a couple books and "Trauma and recovery" by Judith Herman is still considered "the bible" on the subject, at least according to several therapists I have spoken with about it and I remember she said anything like that, any physical contact beteween the therapist and client was a real big no no.
Yes, care is needed I'd say in most cases of trauma but can also be one of the most powerful ways to connect with someone when done safely. It's never all or nothing.