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In Mahabharata, Pandavas used to visit Sudra's homes. It can be clarified from the following passage

Vaisampayana said, 'Then all the citizens (of Varanavata) on hearing that the son of Pandu had come, were filled with joy at the tidings, speedily came out of Varanavata, in vehicles of various kinds numbering by thousands, taking with them every auspicious article as directed by the Sastras, for receiving those foremost of men. And the people of Varanavata, approaching the sons of Kunti blessed them by uttering the Jaya and stood surrounding them. That tiger among men, viz., the virtuous Yudhishthira thus surrounded by them looked resplendent like him having the thunderbolt in his hands (viz., Indra) in the midst of the celestials. And those sinless ones, welcomed by the citizens and welcoming the citizens in return, then entered the populous town of Varanavata decked with every ornament. Entering the town those heroes first went, O monarch, to the abodes of Brahmanas engaged in their proper duties. Those foremost of men then went to the abodes of the officials of the town, and then of the Sutas and the Vaisyas and then to those of even the Sudras, O bull of Bharata's race, thus adored by the citizens, the Pandavas at last went with Purochana going before them, to the palace that had been built for them, Purochana then began to place before them food and drink and beds and carpets, all of the first and most agreeable order. The Pandavas attired in costly robes, continued to live there, adored by Purochana and the people having their homes in Varanavata.

[Section 148, Jatugriha Parva, Adi Parva, The Mahabharata]

Are there any such instances where Krishna visited Sudra's home or touching a Sudra?

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    From this answer you can get those verses where Vidura himself is saying that he is a Sudra by birth "Vidura said, 'I am born in the Sudra order and, therefore, do not venture to say more than what I have already said." So, the answer given here is correct. – Rickross Nov 28 '20 at 11:06
  • Krishna was brought up in nanda gavon which is sudra only he lived played and acted like one this shows how much krisnas is affectionate to sutras and girls its for them he concised vedas and upanishad into bhagvad gita previously inaccessible to sudra – Prasanna R Dec 1 '20 at 8:55
  • Prasanna, the Yadavas were Kshatriya not Sudra. – Rishita Ghosh Jan 8 at 17:53
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In Mahabharat era - Mahatma Vidura [महात्मा विदुर] - who was a dasi-putra (son of servant of Hastinapur's king) - was considered as Shudra (means worker class) Varna. And Sri Krishna did visit his home - when he visited as a "messenger of Pandavas" - with the purpose to avoid the war.

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See we need to understand that Bhagavan doesn't differentiate anyone based on Birth/Class. Lord Krishna(Vishnu/Rama) hugged Kubja(Nishada) and even visited her house.He embraced Guha and accepted love of Sabari. He also married Jambavati(Nishada).He ate banana peels offered by Sudra Vidura's wife and prefers to live in his small house than royal Kingdom of Duryodhana. He also blessed the Fruit Seller. Lord doesnt see birth as consideration to reciprocate love.

The almighty Lord greeted everyone present by bowing His head, exchanging greetings, embracing, shaking hands, looking and smiling, giving assurances and awarding benedictions, even to the lowest dogeaters in rank.(SB 1.11.22)

Unlike an ordinary living entity, my Lord, You do not discriminate between friends and enemies, the favorable and the unfavorable, because for You there is no conception of higher and lower. Nonetheless, You offer Your benedictions according to the level of one’s service, exactly as a desire tree delivers fruits according to one’s desires and makes no distinction between the lower and the higher.(SB 7.9.27)

The pure devotee is always within the core of My heart, and I am always in the heart of the pure devotee. My devotees do not know anything else but Me, and I do not know anyone else but them.(SB 9.4.68)

Sri Krsna who is very affectionate toward His devotees, sells Himself to a devotee who offers Him merely a Tulasi leaf and a palmful of water. The Lord liquidates the debt by offering Himself to the devotee.” (CC Adi 3.104–107)

In recent times,Lord Krishna baked Pots and sold them for Gora Khumbhar. He drove cattle and ate with Chokmela Ji. He carried Cow Dung with Janabai and helped her in washing the utensils and sweeping the floor.He came as Pariah Massager to protect Damaji and washes feet of a King when his Barber Bhakta Sena Nahvi was sick!He blessed Outcastes like Thirupan Alvar and Kanaka Dasa with ever lasting fame. That's why its said that

Birth in a low family is no disqualification for the execution of devotional service. And birth in a family of brahmanas is no qualification. Anyone who takes to devotional service is exalted, whereas a non devotee is always condemned and abominable. In the discharge of devotional service to the Lord, there is no consideration of the status of one's family. (CC Antya 4.66,67)

It is through deep love that the Chandala makes me his own, while without it the Brahmin is nothing to me.” (Garuda Purana 1.231.9)

A brahmana who is expert in studying all four Vedas is not dear to Me, but a devotee who comes from a family of outcastes (candalas) is dear to Me. Whatever he touches becomes pure. That devotee, although born in a family of outcastes is as worshipable as I am. (Hari-bhakti-vilasa 10.91)

A Bramhana who is expert in studying all four Vedas is not dear to Me. But a devotee who comes from a family of Chandalas is dear to Me. He should be offered gifts and one should accept gifts from him. He is as worshipable as I am. (Hari-Bhakta-Vilasa 10.127)

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