Playgroup Etiquette

My son was in daycare from 3 month old till 9 months old. He loved his classmates. He is very confident, social, and friendly with other adults and all children regardless of their age. He is now 10 months old and I just became a stay at home mom. I am trying to arrange as many playgroup and social opportunities as possible so he doesn't loose his social skills. I noticed other moms don't really let the babies touch when they are playing. There is a lot of hoovering really close and making sure they don't accidentally hit each other. A lot of "gentle Thomas. gentle." and intervening when a kid picks up a toy that the other baby had. etc. Is this something that I am expected to do? I have been letting my baby have freedom to touch the other children and touch their toys. (he will touch their hair or their shirt for example) I don't stop him or redirect his hand unless he is making the other child upset or if the other child's parents seem bothered. There seems to be a thing where other parents want the kids to maintain personal space and personal boundaries. I just don't see why if the kids seem fine. I always say at the beginning: my child is extremely friendly and loves interaction. Sort of a warning. Anyway, How will they learn if we just want them to play with separate toys side by side without freedom to engage each other freely? Am I being too hands-off? What's the etiquette expectation? I want to do the right thing. Not sure if other moms are in the same mindset. No one has complained or commented. I just want to make sure I'm being respectful. First time mom here...