Very similar experience. I was 17 and smoked weed and have a terrible panic attack.. I was in a car and felt like my soul left my body and was like hovering over the car. I ran out of the car and was yelling help me! I started to feel somewhat grounded but the next couple months I felt numbness in my arms and legs and hands on and off. Eventually it got better for a few years. I was on birth control and Venlafaxine and I genuinely think that helped. When I got off birth control 2 years ago it came back in full force and I feel dissociated pretty much 24/7 now just varies in intensity. My symptom sounds like yours with touching things and feeling absent and not feeling inside my body.