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Assalam Alaikum,
الجواب وبالله التوفيق
Touching a namehram with or without lust is considered haram. However if someone touched a namehram it does not make their wife haram upon them, doing so is still considered a grave sin and one should repent and perform astaghfar. It is haram upon you to perform Nikah with this woman’s mother or daughter (whom you touched with lust).
(وطی اخت امراتہ لا تحرم علیہ امراتہ (کتاب النوازل ص 301، ج8، بحوالہ الدرالمختار مع الشامی
واللہ اعلم بالصواب