I think I had similar thoughts to you, I'm not a touchy person, I actually squirm at the idea, but as time went on with T I found myself wanting to be closer, that progressed onto wanting to touch.
I think it's actually for many quiet a normal want, but for me it threw me for quite a few weeks. It also brought on slot of shame thoughts etc. Anyway I tried to shut it away and pretend I didn't want this, but then it would come back again. So I just convinced myself she would say no and I'd feel the ultimate form of rejection and carried on ignoring it.
I was adamant I couldn't/wouldn't never say anything, but one day after a break I just blurted out if I could touch her hand. She was probably shocked I dunno because I think I'm quite standoffish and hard to read mainly, but she agreed.
So I know how hard it is to actually ask or mention the want of touch and yes you do fear the rejection and feel the shame in having to say it out loud, but I think it's one of those things in that every T is different, it's not blank or whte many, and without asking you are just not going to know the answer. I don't regret asking that day although I still cringe to myself that I did it, but thankfully for me the outcome was good and it was one of the safest moments I've had with her.