Not trying to raise any hopes, but this whole intimacy thing seems intentional. Because they are constantly showing that Sai is talking to Satya about it & he somehow always fails to listen. This might boil up into some big drama.
Satya touching Sai has always been in a friendly way, not in any romantic sense. I agree that consent is important, even Satya knows that, but sometimes when we consider someone family, we tend to get touchy with them without realizing sometimes that they might be feeling uncomfortable or they simply need space. Satya would have been absolutely wrong if he had been taking liberties even after Sai made things clear. Maybe she isn't used to being around a man, plus she has been living alone with nobody really caring about her well being so she is most probably taken aback by all the concern about her. & Sai has seen people she has known for years flipping in the blink of an eye, (especially Ashwini, Sai had really accepted her as an Aai) her trust issues are deeply rooted, she is empathetic towards Adhkaris, but this family is really new for her, & a person who has been soo brutally hurt by people she considered her own, she will take time to warm up to them & form a bond with them. At this point, Sai is running away from any more attachments because there is always this fear that the more people she will let in, the more they would walk right out, this has been happening to her for years. Today when Amba hugged her, Sai was taken aback, and shocked, because she was expecting her to snap at her & create a scene, something that constantly kept happening at Chavan Niwas, with Bhavani being ever ready to create a scene & humiliate, Sai was waiting for Amba to say something bitter to her, but that didn't happen. & I feel maybe Sai equates Amba to Bhavani since they are sisters, so she maybe kinda expects Amba to be a replica of Bhavani, which isn't the case, which she will eventually realize, once she lets her guard down & is willing to give herself a second chance. Also, maybe Sai not wanting Satya to touch her is maybe because she is hyperaware of his actions & is scared that maybe one day she will let her guard down. All thanks to Virat & Chavans, she most probably thinks that she isn't worth loving & that she doesn't have the romantic kinda love left in her to give it to Satya. Sai might be scared to fall in love again. I feel might be a situation arises where Sai is stuck & Chavans as per usual belittle her & Adhikaris stand by her, or maybe she is on the verge of losing Adhikaris & she realizes how important they have become to her because if she didn't care her first instinct wouldn't have been to defend Adhikaris every time Chavan or Virat attacks them, she cares about them, but most probably is too scared to accept it to herself & we do know that Sai takes time to accept her feelings about anything or anybody in general, although, by that time a lot has already transpired & it's too late.
Now coming to Satya, his character's real test is how he handles when Sai rejects him, although I think he expects that from her because he wants to confess to Sai in spite of knowing that she isn't over Virat. I understand where he is coming from, he has lost his love once, and he has seen that loss right before his eyes, he wants to be honest with Sai & tell her everything so that he has no regrets later & the basis of their relationship has been honesty, & maybe with the little hope that she gives it a shot. & Sai needs to know about it so that she is more careful about his feelings, especially around Virat. I really want that Satya confesses his feelings to Sai maturely & make her aware that she isn't obligated to reciprocate them, his feelings are his problem to deal with, and she doesn't have to take the pressure of it. Because, seemingly, this is the only way Sai might only be able to realize the difference between Virat & Satya's love for her. Plus if she is aware of Satya's feelings, she might not misunderstand Satya's gestures, care etc just as "humanitarian" or "zimmedaari".
If they show Sai rudely snapping badly back at Satya for being touchy, I do want Satya to understand it, calmly apologize to Sai, but also give her a cold shoulder for rudely snapping at him, & maintain distance with her at all times, build boundaries, without guilt-tripping Sai about it. Because they do need some differences between them.
This is the Synopsis under Hulu Hotstar, what y'all thinks about this? It's written "Romance begins to bloom" I'm not sure if that going to apply to Sai also or only to Satya. As we all know Satya already Falling for Sai at a speed of a Bullet train. 
536