It really amuses me that she hooks her arm around Garnet’s waist to wave at Steven instead of just moving in front of her
She has also hugged Garnet’s thigh in “Mirror Gem” when she’s freaked out about the mirror
which is probably mostly due to her height since she’s only about as tall as Garnet’s waist but she’s shoulder-height to Pearl so she’s more prone to grabbing her arm
but anyway my point is that they really have no problem touching or holding onto each other and are especially prone to doing so when they’re upset or scared. Everyone knows Pearl does it all the time with Garnet but Amethyst does it a fair bit too