There's such a thing as invited touch? I can't imagine ever asking to touch or be touched by someone. At least since the few times I've done so have yielded a response along the lines of "ew, no!"
I figured that physical affection was sort of spontaneous.
it can be verbally invited, or invited by body language.
if, for example, you're out on a date, its not out of line to ask to kiss her for the first time. I've also told friends that I would like to hug them before just assuming they'd be okay with being hugged. someone opening their arms towards you or just generally being very physically close to you is a pretty good indication that they're ok with being touched.
but if someone is keeping their distance from you, have their arms crossed, body pointed away from you constantly, lack of eye contact/smiling etc... those are pretty strong nonverbal cues that they would not be ok with you touching them.
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