Stop writing men as if modern Western toxic masculinity were the default throughout time and space.
Your medieval knights can share a pallet at night because it’s cold in this castle and they’re demonstrating their respect and affection for each other by sharing physical proximity.
In the far future, your dude can be a scientist adventurer robot captain, but he can also make food for people to demonstrate his affection and dance to show off his happiness.
Many cultures alive today expect the average man to be good with children, to be able to diaper a baby, to know how to assist in childbirth. Your men don’t have to go, “Oh god, an infant, I’ve never touched one of those before.”
Before modern Europe, there was nothing unmanly about loving colour, fashion, art, and decoration. Flowers weren’t always emasculating. Emotions weren’t always considered signs of weakness. Men got to want and have warm, close, affectionate friendships with other men.
In many ways, Western toxic masculinity of the last few centuries has been the exception, not the rule.