Is it permissible for a man to ask his female mahrams to see, touch, kiss, or suck their breasts out of familiarity and jest, without lust and without fear of fitna occurring, knowing that a woman's awrah in front of her mahrams is from the navel to the knee?

The preponderant view is that what a man is permitted to see of his mahram (definition) (unmarriageable kin) are those parts that are commonly exposed, such as the face and extremities. He is not allowed to look at the chest and breasts. This is the position of the Maliki and Hanbali schools of thought. The permissibility of looking and touching is conditioned upon the absence of fitna (temptation/strife) and the non-existence of lust. As for a man asking his mahram to expose her breasts, touch them, kiss them, and suckle them, claiming familiarity and joking, this is baseless talk that contradicts Islamic law and sound human nature.