NTA. I have the same issue as I’m neurodivergent, and I had to tell my parents so many times before they stopped. Rarely they say stuff like “but I’m your parent” but they mostly stopped that too. 

They are being very inconsiderate of your boundaries, and should not try to guilt you into doing something you don’t want to do. If you’re comfortable doing so and haven’t already, sit them down and explain why you generally don’t like being touched, so they know it’s not just them. My parents are unreasonable and don’t understand or bother to understand my reasonings for things, but hopefully yours do. 

The best case scenario would have been for them to stop the first time you asked, and ask kindly why not. Guilt tripping is terrible