My love language is touch and my partners isn’t.

Hello, I am a male who’s gay and my boyfriend is also a gay male. We have been together for a good while now and we never argue nor are rude to each other ofc we have our disagreements but we communicate them out and try to come to a compromise. I’m a very touchy individual and he is not, my love language is touch and he doesn’t really like people touching him in general but me and his is just being around me or being in his presence ofc he touches me sometimes and we go to sleep cuddling but he told me not too long ago “do you always have to touch me it’s a little exhausting” because I was rubbing his thigh while he was driving. I feel like I don’t touch him too much but how could I compromise with this?