I think you may feel like you're being hypersexualized in non-sexual situations. Your GF needs to respect your boundaries. Just because she's your GF doesn't mean she owns your body or has unrestricted access to it.

She needs to respect your boundaries. She seems to want a relationship where she can touch you how she wants, but she needs your consent. Don't be afraid to ask for what you need. She should listen to you and pay attention to what is upsetting you.

What if you reach an agreement where she asks for consent before grabbing you? It seems like she values the spontaneity and casual behavior of grabbing you. I think her idea of intimacy is different from your idea.