I [30f] experiencing weird sudden jealousy around husband [34m] with my friend [30m]

UPDATE: I brought up that some of the things they did together made me uncomfortable to my husband and he just said "okay." I pushed a little more and he said "we'll be careful." I honestly don't know what that means and I don't really feel much better?
I've never been the jealous type. I have my insecurities but I've never felt like this before. Heck, we've had a threesome with another woman and I was fine with it.
I have been with my husband for over 10 years. We're both bisexual. This is relevant.
We have a shared friend who I'll call Carl. Carl is gay (also relevant). He's a lovely guy and when I'm with him alone I love him to bits. We're very similar. We have had similar childhoods, interests, etc.
Something about the way Carl and my husband are together makes me feel pangs of white hot jealousy and it always takes me by surprise. I'm not good with body language so I'm not exactly sure what's going on.
Husband and Carl are very touchy-feely. (Husband is like this with most of his friends who are okay with it.) They will hug and sometimes wrestle, pat each other on the head, etc. I'm not. I'm autistic and I find touch from anyone other than my husband unbearable.
Lately with restrictions lifted Carl has been staying over sometimes. Some mornings I wake up after husband and find the two of them sitting shirtless together, one leaning on the other. Sometimes husband is stroking Carl's hair. Carl goes quiet and freezes. Husband doesn't stop in my presence.
I'm so confused. Is it just an extrovert friendly thing? Am I right to be upset? What do I do? Husband keeps asking what's wrong and I don't know if this is a "me" problem. I feel sick around them. I feel awful.
Help!
TL;DR Not sure if husband and friend's interactions are appropriate but they're making me very jealous and it's messing with my head.


Source.