I saw a touch screen for controlling AV equipment at Sun decades ago that had a single solenoid underneath the glass that could thunk to provide tactile feedback as you pressed buttons and dragged sliders.
I've played with some tech demos that used electrostatic stiction (I may be remembering the name wrong) to create friction on a glass touch panel.
The high voltage needed makes it a no go for most/all portable devices.
I played with some other "cl controllable friction" tech but don't remember the basis of it. Iirc one actually made small indentations in the screen to simulate buttons. Had a bunch of limitations, I think the button placement was baked in at time of manufacturing, but it's been awhile and I don't trust my memory on the topic.