Does sleeping in a friend's arms out of brotherly love and intense affection, without any thought or intention of sexual deviation, count as a sin?

The Prophet ﷺ forbade a man from touching another man while they are in one garment, meaning they sleep closely together and skin touches skin. This is because it leads to temptation and corruption. This prohibition is for tahrim (absolute prohibition) if there is no barrier between them. It also contains evidence for the prohibition of touching another person's awrah (private parts). If there is a barrier between them and temptation is absent, some scholars consider it makruh (disliked) but not haram (forbidden), though it is more cautious to avoid it.