^^^^ Sounds like a plan. :)

How about a cheeky butt squeeze?

Maybe tie ^^^ down and tickle the bottoms of the feet

I'll tease his cute tail.

A couple of different forms of touch: alternate between firm head/neck massage and sudden, sharp swats to her butt at irregular and unpredictable intervals.

Handshake

A proper Medieval/Renaissance man-to-man hug: right forearms grasped, left hand over the shoulder to the upper back.

(see, what you're doing is checking that the other guy doesn't have concealed blades)

Hand on shoulder as a greeting.

the tip of an index finger traced along the inside forearm, pausing above the wrist to make tiny circles - wondering if lil tingles crawl up the arm...?

I'd like to brush her hair

Back, butt & leg massage