Do people in ancient times also kiss?

Well said. Chinese people have been known to "kiss" from the beginning, but the common people call it "kissing the mouth" and "licking the tongue." Besides, because of feudalism in ancient times, "men and women did not kiss each other", let alone kissing in public. There are many descriptions of kissing in erotic novels of the Ming and Qing Dynasties. For example, "First it became the character "LV", and then it became the character "中"." This vividly expresses the sexual process of a couple of lovers.

"Kiss" and "kiss" are just changes in wording. There is no question of "yes" or "no".