We don't have an official VR waifu thread, but since this would cut out the body and make it easier and more feasible, I think this here is the right place.
Good news again, the haptic feedback hardware for VR games and VR chat seem to make huge progress. Also, even the current popular VR chat software supports it already (nothing sexual, I think):
https://youtu.be/wBV9hDNd2ws
The downside is, it's still very expensive. So if this is the easiest and most feasible way or not depends on one's priorities, I guess. Also, I'm sure it's going to be much cheaper in five years.
The other thing is, that this is not about sensing touch yet, only little vibration motors letting you feel something on parts of your chest, arms and feet.
Okay, then there's also brain controlled VR. Fascinating, but not sure if this is usefull, related to waifus:
https://youtu.be/xAzdH4fFbxA