Gary, an idea that you and Hailey may like to try.
Stand opposite each other, don't talk, don't smile and just copy the other person's body movements in silence. The idea is you start with person being leader and then swap and then eventually move to no leader and just really getting in touch with each other.
I did in my therapy group about two years ago and it was really powerful. Everyone kept giggling and smiling, I guess to try and break the intimacy of it. You and Hailey are already so close but maybe it would help? You could try visualising and sending out sexual vibes throughout that way no one is being touched but its still intimate without being intrusive.