I think it is a totally reasonable question to ask (if you haven't already talked about it). I really NEEDED to know what the boundaries were around touch, so I asked my T. At the time, I didn't want touch, so a "no" would have been fine, but the answer ended up being "yes".

Different T's have different approaches. The only way you'll know is if you ask. Asking really isn't stirring up drama. You just want information - that's so okay.