Have the fatwas concerning the unlawfulness of physical contact and touching the nakedness between men contradicted each other, and is this difference a result of the differing muftis?

There are two issues regarding touching the 'awrah (private parts) of another person:

1. Touching without a barrier: It is forbidden by consensus to touch the 'awrah of another person without a barrier, whether for a man or a woman, based on the hadith: "No man should look at the private parts of another man, and no woman should look at the private parts of another woman; and no man should lie with another man under one covering, and no woman should lie with another woman under one covering." 2. Touching with a barrier: Scholars have differed on this matter. Some are of the opinion that it is absolutely forbidden, while others permit it, especially when there is a need and no fear of temptation (fitnah). The more preponderant opinion is that it is permissible to touch the 'awrah of another person with a barrier when there is no fear of temptation, with the exception of the two private parts (front and back genitals), where the matter is more stringent. Regarding maharim (unmarriageable kin), it is permissible to touch what is not between the navel and the knee, over clothes, when there is a need and no fear of temptation, such as assisting with mounting or dismounting (a conveyance), by touching the back and abdomen, but not what is underneath them.