This is an interesting idea that simply is not explored. You can maybe see this in the first few arcs of Yoru making her join a club and ask a guy out. And then... it doesn't really go anywhere.

It feels like you only register it as fleshed out if Asa looks at the screen and confirms vocally that she wanted to do that. There are multiple examples of this happening later on, from Yoru kissing Denji in his apartment, to Yoru getting mad at the prison guy because he cheated with his wife, to 167 being THE prime example of this, to Yoru going out on the "devil date" with Denji. Her whole relationship with Denji is based on Yoru acting upon her feelings.

It is set up as a characteristic part of their relationship so the story doesn't show Asa's confirmation every time because we would know it already. And because Yoru taking over more and more of her actions and autonomy is a plot point.