If a guy always brushes up against you while walking beside you, does it mean he's attracted to you?

We always walk so close together that our arms brushing up and one time I thought maybe it's because of me and gave him a bit of space but after a second we were brushing up against each other again so it's not only because of me. It happens only when I walk with him, when I'm walking with other guys we never touch our arms. Does it mean this guy is attracted to me?
Also, he's kinda nervous around me, always looks at me first and smiles when making a joke, looks at me a lot, checked me out before.
If a guy always brushes up against you while walking beside you, does it mean he's attracted to you?
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