Is it safe to dry a car after a touchless wash without contact washing it first?

Only if the touchless process has removed nearly all loose and bonded dirt. If visible road film remains, towel drying can drag contamination across the surface and create fine scratches. Wipe a finger across a lower panel to check: if it comes away dirty, the car is not clean enough to towel dry. Air drying is safer than towel contact when the vehicle is not fully clean.