وَإِنْ قَبَّلَ أَوْ لَمَسَ بِشَهْوَةٍ فَعَلَيْهِ دَمٌ
Translation: If a muhrim kisses or touches with desire, an animal offering is due.
Qabbala means kissing; lamasa bi-shahwah means touching with sexual desire. The passage prescribes dam for either, without saying that this act itself invalidates Hajj.
These acts must be distinguished from the subsequent rule for sexual intercourse. A shared topic of intimacy does not make their rulings identical.