I would say you need to me more secure in your relationship. He sounds like a nice guy hugging someone in distress.
I think your overthinking, and yes if he was on a night out and did that to a stranger, then you might have reason to be upset. Yet not in the circumstances you say,
My brother in law, is like a brother to me, my sister and him have been together for 17 years. I often talk to him about my problems,. as hes more empahetic than my sister is, does it include hugs or human contact no, is my sister jealous that a man who I find kind, and whos opinion I value is letting me bend his ear, concerning to my sister no,
Shes glad I think she married a lovely guy, and i'm glad my nephews have such a good dad, and my kids have such a lovely uncle,
You really are clearly a little insecure and you needn't be,