The problem here is one of definition. It's discussing "collisions" and "contact" but doesn't carefully define them. The problems you get are:
There is no clear-cut difference between a collision and many other forms of interaction.
There isn't a good definition of "contact" either. Look closely and things don't contact each other. They just come close and move apart.
Whatever size the objects we are discussing may be, at an atomic scale they are all made up of tiny quanta/"particles" which aren't solid, and don't "collide" at all. Ever. They exchange force carriers and exert forces on each other. Technically it's hard to describe what exists. This isn't relevant at day to day level but is a big part of the reason why its hard to define these words. (You may hear this stated as "everything is mostly empty space")
Although we call a lot of things "collisions", it's a vague term when you look carefully at it, because physically things interact rather than collide. We think of them as "collisions" because we see them on a timescale that makes them look like instant events. If we saw them closer up, we would see they involve many interactions that gradually build up and gradually dissipate, all while the objects are at a distance. A "collision" is a kind of conceptualisation. Which is fine, except that you're then trying to apply the term "contact" which isn't a similar concept.
An example of this is Brownian Motion. You can see dust particles move in the air, and particles in water (under a microscope), suddenly change direction. It certainly looks like they have had collisions, because they suddenly change direction. Even in classes we say they collided. But they never actually came in contact. They might have come within tiny fractions of a millimeter, but before they could actually touch, the interaction had done its job and momentum/energy was transferred, so they moved apart.
Its the same with large scale collisions, just harder to see, and less obvious. Because we generally don't care when 2 cars collide, whether their particles came into contact or just within a tiny fraction of a millimeter, enough to pass on momentum and deforming forces, we say they "collided" and came into "contact". But technically neither is true, or at least, you would have to define what counts as "collision" and “contact" to decide whether it was true according to that definition.
Thought experiment/example of a "quite close" answer
Here's a thought experiment for you, in place of a definitive answer.
Suppose you played pool or snooker just with the cue ball and black, and somehow both balls were either all the same electrical charge (all + or -) or all the same magnetic monopole (north or south magnet) without breaking apart, exploding the earth, or breaking physics. Being the same charge or magnetic pole, they repel each other very strongly when they get close.
You hit the cue ball at the black. It seems to smack one side of the black, and both balls move apart as usual in pool/snooker. But ultra-slow motion shows that the black ball started moving away and the cue ball started to change its path, when they were 3.5mm apart, and both balls rapidly changed their motion so they never actually got closer than 0.25mm, so rapidly that it looked like a normal game of pool.
Would you say this was a "collision" and if so, was there "contact"?
In close-up, that is what every collision you see is like, and the kind of movement that's really happening.
That is my attempt to show why it's a difficult question to answer.