@epiccupcake,
Why have you never asked her: "Honey I love you so much I can't keep my hands off you. Do you like it?"
She might tell you one way or the other, but after 20 years, who knows.
As long as this is not perceived as "pawing" you could probably continue. Trouble is, she is not being allowed to seduce or pet you.
Would
you like to be touched like that during the day?