According to the strict letter of the law it is illegal. But remember my speeding analogy from the other day. Everyone speeds. So most likely the cop won't pull you over for going 1 mile over the limit. So everyone has physical/sexual contact of some kind with their wife or GF or someone they just had s*x with. That's pretty normal and expected. So it comes down to does the sexual contact appear or is abusive in nature. So attitude and intent are huge if it is a arrestable or punishable crime. A guy out with his wife/GF and is grabs her butt without permission in public and she doesn't appreciate it and the guy picks up on the fact she isn't up for public display like that and he stops, then there's no problem with that. He's respecting her body but he just made a mistake with timing, that happens to everyone. The chances someone gets arrested for that would be almost none. Even if that whole interaction happened with no talking it would still be okay because the guy is paying attention to what his wife or GF is feeling. Now lets take the same situation and the guy grabs his GF's butt and she tells him to stop and he doesn't and he continues to then touch and grab anything on her and she is noticeably uncomfortable with it then that's a problem. That would be something that she could report, probably wouldn't get a prosecutor to take the case but it would be illegal. Or if a police officer saw this happening he might approach the couple and check things out and could arrest the guy, again depending on how aggressive he was and if he disregarded her feelings.
Everyone is going to guess wrong sometimes with sexual advances, even if you don't know the person and try to pick her up and she isn't feeling it, there's nothing wrong with that as long as the guy takes the hint, either the non-verbal hint or the verbal hint, and he backs off. What the law is concerned about is if the contact is abusive in nature, but the way they have to write the law is to involve just about anything they can think of to protect wives and GF's because most people believe if you're in a relationship with someone then sex is an ongoing implied consent. Which it is not. I've worked with many wives who were consistently raped by their husbands but didn't report it because they didn't think it was rape since they were married.
So in summary if the guy respects his woman but out in public, or private, he sexually advances on her and she's not good for it at that moment then there's nothing wrong with that as long as the guy stops. So public or private sexual acts like touching each other is not a crime if both parties are good with each other. I wouldn't recommend a lot of groping in public because of laws against public lewdness.
As with speeding the speeding law is not meant for the guy who drives 5 miles over the limit, it's meant for the guy who drives 30 miles over the limit and endangers people. The sex assault laws are not written for the guy and girl who will occasionally grab each other's butts, or kiss, or whatever in public. The laws are written for the abusers who are going to do whatever they want, whenever they want, and it doesn't matter if their girl is okay with it or not. But they had to add all the possible scenarios to protect all types of victims. The sex assault laws were not written for 95% of the population that go about the dating and flirting and sexual activities of a normal couple. The laws were written for the 5% of the population that see their woman as an object for their own pleasure but they had to protect the wives and the GF's so they had to include everything.
My guess is what did Zeke in on this one is one of the videos shows his girl slapping his hand away and immediately covering up the breast he exposed. That was non-verbal communication that she didn't appreciate it. So even if they have an ongoing relationship, her reaction and his reaction of not appearing to care that she didn't appreciate it is the problem. And they appeared to be drunk which will always bring up the question would she have allowed him to do that in public, in front of everyone, if she was sober.
That make sense, sorry it was so long.