Socialized people work with them on instinct, others can't do that.

This is a valid point. Some on the autism spectrum, for example, have difficulties due to lack of this instinct.

And my point was that boundaries are never that clearly defined.

This is also true, but not so much a problem. Everyone is bound to overstep at some point. However, that is most likely going to yield a negative response from the other person, and it is actually somewhat their responsibility to express this plainly. Where jerks and unaware people diverge in action is how they respond to being made aware. Say sorry and not push further and you are in the clear.

I will admit there is a little bit of a problem with a supreme narrative based on personal experience if applied indiscriminately in every context. However, as long as it is confined to one's own body, it is perfectly fine since everyone should have their bodily autonomy respected and thus their experience is the supreme narrative in this instance always.

There are training one can do if one lacks social intuitition and basic rules like do not touch at spots other than briefly on shoulders etc. without consent. I have lots of sympathy for all those who struggle socially, but do not see laxing on demanding respect for others as being helpful in any way. I would also speak up if someone ridiculed a nice person for being just awkward, but that is not the issue discussed here.