
It depends on the Esper or Guide themselves if they want to have a "sexual/intimate" guiding. Usually, holding hands would be fine, mostly, the Uke here is an S-class guide so it wouldn't be difficult for him to guide the Esper. Doing intimate or sexual stuff is not necessary to guide an Esper. That's how guiding works, based on other stories I've read so far.

I'm currently reading the novel lol, this story is quite weird but interesting as well. I'm so sorry for spoiling you.
They also have the role of Omega and Alpha. The supposedly main character is an omega and an F-rank class and this main character is not an omega(?). I think the rate match thing plays an important role as well because the main character has a lower rate match with the ML, and Kim Jun has a higher rate(?). Having a low rate match could be worse when guiding, so I guess, guiding with a worse rate match wouldn't work even when the Esper is in berserk. And I think, Kim Jun(supposedly the main character), even being an F-rank but having a higher match with the ML, his guiding would work with the ML. This is just my guess based on the novel, I'm still in the early chapter and the Berserk thingy isn't yet mentioned. Besides, this is my first time reading where they include an F-rank x S-rank and literally with Alpha and Omega in guideverse.

Oh gosh, the world building seems a little messy. I've seen a mesh of omegaverse and guideverse and it can be done nicely, but here it seems to be really stretched out to fit the narrative. The author should have also taken time to make a kind of introduction if it’s not the classic concept and goes against the norms.
Explain to me why would any esper choose F class guide over S class guide? Like what can F class guide do for him? Bro, the original plot didn’t make sense.