Joel's animation is actually really incredible. There are some contextual animations in the environment, for example he will put his arm up over his head when walking under a stream of running water, but there's almost no wall touching lol.
It's interesting that his animation changes when he moves inside a building. His stance changes, like he's apprehensive. He puts his hands out to the sides like he's ready for something to happen. (this might only be because they're in a dilapidated and off-kilter building)
Then there is the god-tier legendary crouch animations. This is when he touches stuff, while leaning against or moving along cover. An interesting aspect is that, if he is in cover with Ellie, he will move around her or even shield her if huddled close together.
And all the animation changes again when you're in combat. The sprint becomes faster, and Joel will push off walls while running past or lean up against corners. Even the crouching animation is different in combat, how Joel handles his weapon or takes cover. It's pretty damn awesome.
Especially when you consider Commander Shepard cannot even holster a weapon in ME3 because they didn't have the memory for those animations.