It’s not mentioned
As i understand he might have touched them as it
...a must for a guide, but he was never attracted to them so it wasn't sexual, it was just guiding. How "far" he went with others is unclear, but probably never all the way.
Most likely as it is his job and he's an S rank at that
(๑•ㅂ•)و✧ purfect
Before I start reading- has the seme physically “guided” anyone else before?