When is it ok to grope someone? (possibly NSFW)

Define grope first.

@janbb Pinching grasping or fondling ones behind.

Pinching hurts. Make sure it’s OK with her first. Try not to bruise.

To save their lives from imminent danger. That’s the only reason that I can come up with, unless I have gotten permission,

If you are both in agreement over it, in cuddling or love making, I would say it’s okay.

^^^ I agree with @rebbel!!!

I do not think that means what you think it means:

“2.
informal
feel or fondle (someone) for sexual pleasure, especially against their will.
“he was accused of groping office girls””

@janbb Ok. Thanks. I’m certainly not going to fondle someone against their will.

You don’t grope your spouse/gf. It has a negative meaning as @janbb said.

More kinds of touching than you or I can probably imagine can go on between consenting adults, and between consenting adults I think it’s all fine. But I don’t think that anything consenting adults do is called groping.

Never, obviously.
The clue is in the word itself, an ugly word for an ugly, despicable act carried out by sleazy losers.

When you’re rich…

^^^ Just because the rich get away with it, it does NOT make it OK to do!!!

GLAD to see that you’re still with us @MrGrimm888