In the video you talk about how Mercury is related to the sense of touch, and I understand that that Gemini rules the hands. With touch being one of the senses, and the senses being connected to Venus/Taurus, this did not initially seem to be an intuitive connection to me. I've given it a lot of thought and am wondering if the connection lies in the fact that hand gestures are used in communication and the pre-verbal children and deaf people use their hands to communicate? Are there other connections that can help me with this?
Yes you're on the right track. You can also think of the hands and giving and receiving information.
I'm not sure the wording I used in the video and transcript, but the way I would describe it is: hands are vehicles for communication. Of course the sensual experience itself is Taurus/Venus. How we take in the sensual experience and classify it as information is Mercury. So we can receive info through our hands just as much as transit/communicate it.