It is likely art and not pornography that can go the nearest. Finaly this "true" is not really displayable, because of not worrying about veracity but about truth, because of no obligation of a frontal approach, art can go his roundabout way; if artistic distance has to be, its place may vary. Than art can touch.
If I touch my models, it is maybe to conjurate this touching. A magical act where I use physical contact as a fetish. Hoping that annulation of the physical distance between the photographer and the model will result in some truth. That hope is allways vain, but always renewed to be with the model.