What if hand relief wasn't taboo? Not even really a sexual act? People would just offer to bring each other off the whole time, so maybe in an average day you would get six offers and take up three. Offer out the same of course. We would still have oral and pen for proper intimate realations. Everyone would be a lot more chilled out.
"Sorry mate, I spilled your pint. Do you want me to smash you off?"
"Yes please and can I do the same for you"
"Don't worry about it, I'll pick one up on the train home"

Is this practical or would it simply be too smelly?