A two-party fuzzy private set intersection (PSI) protocol between Alice and Bob with input sets A and B allows Alice to learn nothing more than the points of Bob that are ''δ-close'' to its points in some metric space dist . More formally, Alice learns only the set {b | dist (a,b) ≤ δ, a ∈ A, b ∈ B} for a predefined threshold δ and distance metric dist, while Bob learns nothing about Alice's set. Fuzzy PSI is a valuable privacy tool in scenarios where private set intersection needs to be computed over imprecise or measurement-based data, such as GPS coordinates or healthcare data. Previous approaches to fuzzy PSI rely on asymmetric cryptographic primitives, generic two-party computation (2PC) techniques like garbled circuits, or function secret sharing methods, all of which are computationally intensive and lead to poor concrete efficiency. This work introduces a new modular framework for fuzzy PSI, primarily built on efficient symmetric key primitives. Our framework reduces the design of efficient fuzzy PSI to a novel variant of oblivious transfer (OT), which we term distance-aware random OT (da-ROT). This variant enables the sender to obtain two random strings (r0, r1), while the receiver obtains one of these values rb, depending on whether the receiver's input keyword a and the sender's input keyword b are close in some metric space i.e., dist (a,b) ≤ δ. The da-ROT can be viewed as a natural extension of traditional OT, where the condition (choice bit) is known to the receiver. We propose efficient constructions for da-ROT based on standard OT techniques tailored for small domains, supporting distance metrics such as the Chebyshev norm, the Euclidean norm, and the Manhattan norm. By integrating these da-ROT constructions, our fuzzy PSI framework achieves up to a 14× reduction in communication cost and up to a 54× reduction in computation cost compared to previous state-of-the-art protocols, across input set sizes ranging from 28 to 216. Additionally, we extend our framework to compute fuzzy PSI cardinality and fuzzy join from traditional PSI-related functionalities. All proposed protocols are secure in the semi-honest model.