No, we don’t all teach our kids that.
You say making yourself uncomfortable to make someone else comfortable is not good advice. I don’t agree with that at all. Life is full of compromises, at least for me anyway. It’s not all about me. That is the way we taught our children.
So you never ever do something for someone else that makes you uncomfortable? Gosh, I’ve done many uncomfortable things to make someone else comfortable. A simple 2-3 second hug falls into that category.
Now, if the hug is a little too personal, touchy-feely type hug from a perverted uncle or a friend‘s husband (just examples) then of course that is a whole different thing. But a friendly, kind, supportive hug from friend to friend? If I really hated hugging, yes I would suck it up and let her give me a hug.