Your T sounds really nice!I wish all therapists were open minded about the concept of hugs.
I have a friend who is in therapy right now and he has a very scared, inner child that comes out quite often. He says that to help him heal, all his inner child wants is a heartfelt hug, something he didn't get much when he was younger. It frustrates him that his therapist does not do touch.
I think touch should be initiated or considered when the patient is known to the therapist better and vica versa. It's a very individual basis thing.
I would love to hug my therapist, but my mind will most definitely misconstrue it as a sexual thing and probably want something more to happen, so though I sort of would like it, I don't at the same time. I'm one of those patients who gets 'erotic transference' mixed up with dependence and regular attachment.
I don't think your T is being unprofessional. I didn't see a problem in her accepting your hug. Like you said, if it's helping and she allows it and is not uncomfortable with it, no problem.