Halo CE's Legendary ending is non-canon. In reality, he and a few other Marines and Naval personnel made it off the ring in a Pelican. They later linked up with the Master Chief and helped him hijack a Covenant Assault Carrier. As for hugging, based on their biology and culture, I suspect that hugging is indeed a concept to them, but it is largely frowned upon in what Sangheili culture we have been exposed to.