I mean not really, kind of the opposite.

Touch grass is a call to action - to discard the convenient abstractions enabled by words alone, and to embrace the messy, gritty complexity of physical reality itself.

The allegory of the cave is the opposite: a wry lament about the inherent limitations of perception itself. You can’t experience physical reality at all; you’re just a bot in the chatroom of your senses, and there’s no such thing as stepping outside it. Your senses may be a lot more detailed than words, but it’s only a matter of degree.