Yes, it's safe... if you're wearing a full hazmat suit.
Let's say it's the dead of winter and your relative has a vicious cold. Do you think it's possible you could get a cold from said relative? Well, then you could also get Covid-19. It doesn't matter how well you know them or how many times you've hugged them in the past.
The whole point of quarantine is to seal people off into household units so that one household won't get another household sick because if you get sick, most of your house (if not your entire house) is going to get sick. If you live in a house with three other people and you break quarantine, then you've broken the seal around your entire house. You think you're only risking your own health, but you're actually risking everyone's health in the house.
The deceptive thing about this Coronavirus is that people are extremely contagious at the very start of developing the infection. It's now known that some people are mostly or entirely asymptomatic and still contagious, but even people who develop severe illness will also go through a period that may last for days in which they're highly infectious, but don't know it.