No, the insulation should not contact the drywall. Insulation is created to manage temperature; if it touches the drywall, it will eventually take up humidity from the air, which may lead to mildew and mildew development. To treatment this and stop dampness problems, wrap the plumbing with foam pipe sleeves. https://clayton2ovel.acidblog.net/63427566/the-2-minute-rule-for-insulation-installation