Horse time is different to human time. Animal time is different to human time. Unless you spend time simply 'being' with a horse or an animal, this is hard to explain. It's about how it flows, and how they flow within it. It is very beneficial to us to simply be in a natural environment, or in such an environment with horses. It is very beneficial to simply be with horses, full stop.
It can be equally as beneficial to the horse/s.
You do not have to touch them and they should not have to touch you. If the horse instigates contact, so be it, otherwise touching is attempting to accomplish something, isn't it?
So just be.
Try it and see.
"Life lessons from watching wild born horses teaches us that there is peace in living day-to-day. Horses do not fret or worry about what might be, they live in the present. This is not 'burying their heads in the sand', for they deal with threats as they arise, and then move on." {E. Denniss}
"Time spent with the horse should not be solely
for trying to get something done." ~ Michael Bevilacqua