I really really don't think Foyet raped Hotch. Not in the sticking anything into a whole sense. I think that for Hotch, the whole attack was exactly the same as rape. And Foyet knows it. It wold have been useless for him to add that to the attack.

I think Hotch is letting Emily be close because she does it in an understated way. She doesn't cuddle and she doesn't push. She's just there for support, ready to intervene when necessary. See how she told him he is not alone at the end there? Very very subtle she is.

Rossi has the dramatic approach ("Here, take mine"), Morgan pushes an wants to be protective, Garcia is being too sweet about it. He can't really handle that. Props to Rossi for seeing that and letting Emily take the lead on this one.