After about a year of working together (maybe 2) he told me he was open to touch, in response to us talking about my previous T rejecting my request for a hug. I appreciated him telling me because it meant I never had to ask and risk rejection.

I always initiate. Usually non-verbally these days. One he said "come here" as we hugged, which felt amazing but I asked him not to do again because it's important i stay in control of it.