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This is a bit of a long shot, but I'm going to suggest the Flandry series by Poul Anderson.

The first book in particular, Ensign Flandry, has the titular character aiding a technologically less-advanced society of cat-like aliens (called "Tigeries" of all things).

There is a scene I vaguely recall where Flandry is greeting one of the aliens, and they touch hands (similar to a handshake) but she (I believe) partially extends her claws and gently pricks Flandry's wrist.

Poul Anderson was a U.S. author, but the sensibility of the series - grand empire and gunboat diplomacy - was much more British.

This is a bit of a long shot, but I'm going to suggest the Flandry series by Poul Anderson.

The first book in particular, Ensign Flandry, has the titular character aiding a technologically less-advanced society of cat-like aliens (called "Tigeries" of all things).

There is a scene I vaguely recall where Flandry is greeting one of the aliens, and they touch hands (similar to a handshake) but she (I believe) partially extends her claws and gently pricks Flandry's wrist.

Poul Anderson was a U.S. author, but the sensibility of the series - grand empire and gunboat diplomacy - was much more British.

This is a bit of a long shot, but I'm going to suggest the Flandry series by Poul Anderson.

The first book in particular, Ensign Flandry, has the titular character aiding a technologically less-advanced society of cat-like aliens.

There is a scene I vaguely recall where Flandry is greeting one of the aliens, and they touch hands (similar to a handshake) but she (I believe) partially extends her claws and gently pricks Flandry's wrist.

Poul Anderson was a U.S. author, but the sensibility of the series - grand empire and gunboat diplomacy - was much more British.

This is a bit of a long shot, but I'm going to suggest the Flandry series by Poul Anderson.

The first book in particular, Ensign Flandry, has the titular character aiding a technologically less-advanced society of cat-like aliens (called "Tigeries" of all things).

There is a scene I vaguely recall where Flandry is greeting one of the aliens, and they touch hands (similar to a handshake) but she (I believe) partially extends her claws and gently pricks Flandry's wrist.

Poul Anderson was a U.S. author, but the sensibility of the series - grand empire and gunboat diplomacy - was much more British.

This is a bit of a long shot, but I'm going to suggest the Flandry series by Poul Anderson.

The first book in particular, Ensign Flandry, has the titular character aiding a technologically less-advanced society of cat-like aliens.

This is a bit of a long shot, but I'm going to suggest the Flandry series by Poul Anderson.

The first book in particular, Ensign Flandry, has the titular character aiding a technologically less-advanced society of cat-like aliens.

There is a scene I vaguely recall where Flandry is greeting one of the aliens, and they touch hands (similar to a handshake) but she (I believe) partially extends her claws and gently pricks Flandry's wrist.

Poul Anderson was a U.S. author, but the sensibility of the series - grand empire and gunboat diplomacy - was much more British.