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The phrase 'touched her' is correct and usable in written English
You can use it to describe an action where someone reaches out and makes physical contact with another person. For example, "Jack gently touched her arm as he walked by her."
Exact(60)
I touched her hand.
He touched her cheek.
He never touched her.
Kellee hadn't touched her food.
He denied he had ever touched her.
Gray (she touched her dress slacks).
For the record, he barely touched her.
Nothing dramatic had touched her life.
She touched her fingertips to her throat.
Then the breeze touched her flesh.
Mr. Clark touched her glass with his.
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Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com