If a parent decides that he or she wants to raise their own child with a not-particularly-standard set of mores or values, and have what an outsider might view as an exorbitantly intimate and cuddly relationship with their kid well into the kid's preteen and early teen years, that's fine. If a parent decides that her family is going to be nudist, and she takes her children to nudist camps or beaches on occasion, that's fine. Do you know why? Because s/he is the kid's parent, and has the right and wherewithal to make a decision like that.
It is not okay though for that parent to, say, borrow a child from a different, non-nudist family, and take that child to a nude beach with her. That person does not have the right and wherewithal to do that with a kid that isn't hers.
So it goes with Jackson. It's perfectly okay for him to personally hold the opinion that parents should be way more touchy-feely nowadays than they commonly are. In point of fact, Jackson had his own children and was free to raise them in that manner if he chose. But he did not have a moral right, after arranging "trusted" alone time with other people's children, to start working to impose his own ideas about boundaries and appropriate relationships on them. It crosses a bright line.