That's why on a date it's important to sit next to the woman instead of across from them. Even starting with something simple and cheesy and elementary like clinking glasses together or high fiving them over something you agree on just to initiate SOME kind of contact, and then just slowly escalate.
Find something on their body and compliment it whether it's an earing or their shirt or tattoo or whatever, and then when they show it off to you which they should if they're not weird or totally uninterested, there's another chance for subtle contact and just see how they respond. Done it many times. You have to build it up slowly.
Obviously if you're at a bar, which is my go to first date, and the bartender asks if you both want another round, pay attention to how she reacts to getting another drink whether she's a big drinker or not. Just any excuse to prolong the date a few more minutes.
All women kiss differently, but when I go for the initial kiss, I NEVER use tongue, just a regular kiss and see how THEY kiss back. You'll be surprised how many will stick their tongues down YOUR throat first!