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You are mixing up two things that have nothing to do with one another. A man is allowed to touch his close relatives: mother, grandmother, (grand)daughter, and sister (although the last is less recommended, but still allowed). This is always allowed, irrespective of anything else (married or single, nidda or not). (And the same for a woman touching her (...


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See section 3 of this article for a summary of R. Yehudah Henkin's approach to this issue. R. Baruch Simon discusses the issue here (from 74:00 onwards) - he places it in the general context of heterim to delay performing a mitzvas aseih.



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