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In my world, it depends heavily on the culture—specifically, in the culture I’ve explored most thoroughly, physical contact with strangers is frowned upon, which is why gestures like handshakes don’t exist in a formal context. On the other hand, there’s no such thing as “polite language”; if someone feels offended, that’s their problem. Otherwise, the culture is hardly prudish; on the contrary, it’s even considered cowardly to be ashamed of one’s body (“It is a gift from the gods—do not spurn it”).
Another culture. The Wilthoya, who are often seen as a laughingstock for this reason are the exact opposite There is anything remotely related to human anatomy taboo. Even eating and drinking in public.