Is it OK for a girl to take driving lessons with a man (assuming no Yichud concerns)? I can’t imagine that Negiah problems do not come up…
It is preferable to use a female. If that is not practical, it is permitted to use a male instructor. However, you should ensure that you put boundaries and fences to avoid improper situations.
The touching: if it happens accidentally and not intentionally – it is OK.
#9753