If it makes you feel better I’m nearly 50 and I have never in my life heard of people needing to take allergy medication for mistakenly touching caterpillar hairs.
That one incident was serious, the person slept over a caterpillar getting stung all over body. Here all caterpillars have venom in hair. Personally I've touched many times by mistake, but didn't have to take medicine, the itchiness & swelling goes away within a hour.
