Background: I am AuDHD, idemromantic, parasexual, omniplatonic, panalterous, demisensual

I'm looking to deepen my current relationships organically, probably into a polyplatonic or other polyamorous relationship style.

So like if we've developed a deep enough intellectual connection so I feel more comfortable with touch, for instance.... how do I transcend this barrier and engage in a way that's comfortable and consentual for both of us without making it super awkward? 😂

This is why I really like sex, if not for the purpose of me being able to nonverbally communicate really well what I like and don't like.

But I'm a lot older than I was when I was casually having sex with some friends and acquaintances, relationship anarchy style.

We could get into some nonsexual kinks, but I think that's just as risky as going straight for sex.

Soooo how do I just like offer a hug, or cuddle up on the couch for a movie or games?

Is it situational? Create the situation to touch and offer plenty of opportunities for the other person to decide they'd like to move away without consequence? That sounds just fine to me.

Just looking for some advice because I usually don't do any of this stuff unless the other person drives. I encourage and come along for the ride. I want to turn my anxiety brain off and just relax and react. That's what I like about authentic relationships.