Just watched this on catchup. Prince Charles seemed very relaxed and happy during the whole programme, I doubt he said anything to anyone about Jay occasionally touching him on the arm. He reciprocated a few times too.
I wonder who it was that brought in this rule of not touching Royalty, Queen Victoria perhaps?
King Charles allowed a woman to kiss him when he was going round shaking hands with people in the crowd, I think it might have been after the Queen died. Now that I think is a no no.
I'm sure King Charles will not be as stuffy as previous Monarchs.