Let's not rule out cannibalism, but yeah, if there is chemistry between two adults, pretty much any playful physical contact is *usually* a sign of attraction. Being on the spectrum must make it much more difficult to navigate, so, me playing armchair psychiatrist, would recommend if you are attracted to the person, be frank and maybe say something like, "I'm not really great at this, but that felt nice. Do you maybe wanna fool around a little?" with no expectations. If she says yes, great; if she gives a firm "no," respect that and try to react casually. Anything in between, try slowly escalating physical contact and lingering eye contact (but not staring), and keeping it playful and light.
I could go on, but there are plenty of "how to tell if she wants you to kiss her" guides out there, I'd advise you to check out a couple, especially if geared towards folks in your situation/noobs.
One last thing, do *not* dwell on it like you missed a once in a lifetime opportunity. It's just part of learning life lessons.
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