Shaking hands is a very good example. Still assur.
That’s actually a machlokes, although most poskim assume it’s assur (and if it is, it’s yehoreig v’al ya’vor). The machlokes is, I believe, based on whether or not that’s considered derech chiba. In other words, although some hold , as you say, that it’s not derech chibah, others, whom most pasken like, hold it is derech chibah.