How do I cope with feeling touch starved?

I've felt lonely and touch starved for many years. I don't have many close friends, and I don't see my best friends very often. I have a bad relationship with both of my parents, and I can't have a pet. So nobody is really there to touch me in a gentle way.

This feels like hell. I see people at school getting loved and hugged, but I can't have that. I've never had a romantic partner before. And I often feel like nobody cares about me. I know this objectively isn't true, but I still feel this way. A lot of people in my life don't care about me. Like some of my friends and my parents.

How do I cope with this horrible reality I'll have to live with for a while? I've tried cuddling pillows every night, that isn't enough. What other coping strategies could I try?