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(99%) Yes. US state law considers even touching someone without their permission to be assault. Can you go to jail for bumping into someone or hugging someone you thought was an old friend? - The odds are against it - BUT if someone ran up to a stranger, gave them a big bear hug and ran away, frightening the person and a police officer saw it - it is quite likely that they would be arrested for assault.

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Q: Is it illegal to hug a stranger in Hawaii?
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