Is touching each other's fingers flirting?

I talk to a friend of mind and in some occasions we accidentally touch each other's fingers while handing things over. Her and I told on to each other's fingers longer then a few seconds. We even talk a little when we are touching. I figure we would react quicker to remove our fingers but we seem to hang on for one more second... Are we flirting?
Is touching each other's fingers flirting?
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