I do more than playfully wrestle with my friends. As I do BJJ. I actively try to choke them out or try to break their limbs or try to tear their ligaments apart. It's very fun for all. Though while it's open to anyone I do get most people wouldn't enjoy it. It's personally physical to the extreme since on top of the close physical contact you're also sweating all over each other to the point sweat dripping in your eyes or mouth will statistically happen at least once.
Honestly if you feel like you miss playful fighting with friends, do a trial class of it.