You used to be able to get a real lap dance although it was typically keep your hands at your sides.

Check out any club but Seville, that place sucks!

Not that I'm aware of.
Some of the clubs just south of the Iowa border advertise vegas rules but I haven't been to any of those yet

Fly in to Cancun, take a ferry to Isla Mujeres and then check out Casa Blanca or Bronco's.

sirbucky......Agree and strongly disagree with you!! I will agree that Seville sucks other then being a beautiful and expensive facility with courteous professional employees. That said, the girls IMHO are pretty average overall with very few 8 & 9's and dances really are pretty lame.

The quote that "Where have you been, these clubs are full contact" is erroneous and definitely not true with one current slight possible exception noted below:
For the consensus of facts from people other then myself check out TUSCL (The Ultimate Strip Club Review) https://www.tuscl.net/clubs.php?m=c&id=298  FYI TUSCL has a free door pass for Spearmint Rhino on the Minnesota Clubs page.

The following from somebody (me) that has spent way too much time and money in Twin Cities strip clubs over the years. Choice used to be the go to place in Mpls with good looking dancers and decent to really good 2 way contact a few years ago. I have a couple friends that danced there during that time and still know the environment pretty well. Since then it has gone steadily & progressively down hill to the point where today it is the opposite with barely any contact and the quality of the dancers has sadly deteriorated.  All the girls now aggressively push your hands out to the side!! There is an immediate strong up sell & hustle to go upstairs to VIP, even before you get to the down stairs couches and have a chance "to get motivated a little". Cover has gone up to 20 bucks. Choice is loosing girls left and right because they can't make any $$$ there.  For what they charge for VIP (short time 15 minutes $200 or 30 minutes for $300), a person could call a quality escort for an hour of fun with next to no rules at all except common sense. As clubs go these days I would recommend Dream Girls as the best dances in town now with the bed dance option and the right girl. (sorry no details but well worth their spendy cover) Oh and beware if you choose the bed dance option once you are there they do hustle you to death for all kinds of upgrades. Easy to spend lots of money. The quality of dancers has also gone up significantly in recent months. The new Spearmint Rhino is also high on the list for quality of girls and the dances are very good(girl dependent but still one way). Plus it is classy, reasonably priced, and run very professionally and not a dump like The Choice. All of the Rhino employees are very courteous friendly and professional, The girls are better then average quality with some of the out of town Rhino girls that they fly in periodically(typically from other clubs in Cali or Vegas) being 10+. What ever you do don't waste your money at Choice.  In fact I tried one more time recently to see a favorite and she was in a foul mood because of the most recent rent increases and this was her last night before leaving for another club. As a result of her mood and lack of enthusiasm I had one dance and left never to return. Deja Vu is a tad spendy and teeny bopper heaven on the week ends with very average dancers that hustle a lot and push hard for VIP which isn't a whole lot better then the hands at the side dances on the main floor. King of Diamonds is an ok neighborhood like hangout in Inver Grove with $10 one way minimal contact dances & some decent looking girls who mostly all hang with their regulars and don't mingle much. Keep in mind that if you want to avoid "groups of bros" & bachelor parties definitely avoid KOD, especially on Fridays and Saturdays in June....At times it is just bachelor party central!! If you venture into Augie's downtown don't go late at night (think safety first in that area). Dances are pretty lame. Pretty much an all black club with a fair amount of girls on the circuit. Many of whom "will work outside" the club. The Lantern in Saint Paul is just an all out dump with glass partitions and very lame dances mediocre girls and dance area with very aggressive nosy security staff. Ricks Cabaret is a comfortable nice place with pleasant staff and $20 one way table dances out in the open closely watched by managers. That said Rick's can be decent if you find the right girl, get to know her some and go to their VIP. Downtown Cabaret is a really nice place with very average dancers(think young and inexperienced as in first job in a club and dances (hands at side) and VIP options that used to be reasonable but now very expensive and also nosy security staff for VIP's.
It has taken me a while but I am finally convinced that a person can waste way too much time & money at these clubs for not much of anything in return and definitely have more fun for longer period of time for same or less $$$ by reading some reviews and picking up the phone and calling some of MN's finest on TER.
Good luck and happy hunting..

Private dances with friends...

ould be much more fun. 2 or 3 or even 4 girls at a time... why not invite providers to your private room instead of going to the club and spending almost as much for less touch? Just saying ... anything is possible