You are married.
If your husband touched you during your Iddah period, the Talaq is nul and void immediately and you are married to one another as you were before the divorce.
Yes, these things are permissible, or rather even mustahab, as a form of foreplay. Our religion Islam encourages one to fulfil the sexual needs of the spouse, and not only their sexual needs. This is why foreplay is mustahab.
Of course, as semen is najis, that would be the only concern, to make sure that najasah is not swallowed.
If wife no longer wishes to be with husband, for whatever reason, she will not be punished, unless she has wronged him. If she no longer had the tolerance or patience to be with him, then she is not going to be held accountable for that. She probably did her best, and it could have been too overwhelming for her.
This is more a moral situation, rather than a shar'i situation.
No, it is not mandatory, and she does not need to do any household responsibilities for them, unless it is out of her own good-will and her kindness.
Her focus should be on her new life with herself and her husband, and her only duty to her in-laws is respect them like her own parents, honour them, treat them well, but does not need to do anything she does not want to.
Her husband and her in-laws should of course know what Islam says, and should accommodate to this as well.
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