As I've heard many people say "I feel you" without sexual connotation. But I am a bit uncomfortable to say that. When do you often use it? Do native speakers commonly use it?
It is common to say, "I feel for you" to mean, "I sympathize with your problem".
I don't recall ever hearing someone say "I feel you" to mean anything other than "I am touching you" (with some part of my body). It could be sexual, but not necessarily. Like if two people were stumbling around in a dark room, one might say, "Oh, I feel your foot" or some such.
I could imagine someone using the phrase like in Stangdon's comment, "Hey, I feel you, man." It intuitively makes sense to me, but I don't recall ever hearing someone say that.