You seem to be begging the question. If you define a certain type of speech as a crime, than it’s not speech.
Is public nudity a crime? It is arguably “victimless,” and doesn’t cost anyone for it to be allowed. Forget the irrelevant arguments of “public health,” those are provably false. What if someone claims that walking in the nude down the street is their form of “speech?”
Yes, these are gray areas. The issue of public nudity has been in the courts many times (and loud music, and other public nuisance laws) and it is arguable whether this is a form of free speech or not. I believe the courts have ruled in favor of “community standards” in some of these cases.
But physical contact is not a gray area.