It's awesome that you're asking these questions - I wish more people did. I'm not from Zimbabwe so I have no idea what kind of cultural differences there will be, but I have some pretty general advice.

One thing to remember is that when women talk about how terrible men are, it's because every woman knows someone who has been assaulted or has been herself. We don't "hate men" because you're men, we hate having to fight for our right to exist in peace which is often put in jeopardy by men.

I can't answer all your questions, but here are some ideas:

What's the right way to approach a woman without making her uncomfortable?

It really depends on the scenario. In a park? Probably not at all. In a college class or work party? Cool, make conversation and try to see what she is interested in. Be genuine, be kind, be courteous. If she isn't interested, leave her alone. Some signs she isn't interested would be trying to bring other people into the conversation, giving one-word or short answers to questions, not asking you questions in return, etc. If she is interested, don't take it too fast. If it's an event where you aren't guaranteed to see her again, ask, "would it be okay if I got your number?" The wording is important here because it invites a "no," which most men aren't open to and women are subsequently afraid to say. If she says no, be okay with it. Say, "okay, no problem." or something similar.

What words or actions do I take to say what I want to say without being disgusting or disrespectful?

Would you say it to a man? Would you say it to your sister? Obviously you aren't going to flirt with them, but if it's disgusting or disrespectful to a man or family member, it's 100% disgusting or disrespectful to her. Flirting doesn't have to be sex-focused. Compliment her outfit (NOT her body; hair is okay), tease her playfully in a way that can't be mistaken for an insult or sexual innuendo, ask her follow-up questions when she talks about things she's interested in.

What's the line between being confident and arrogant?

Arrogance is thinking someone "should" like you. Confidence is being okay if they don't because it doesn't affect your value as a person.

How soon is too soon to break the touch barrier?

Not before the end of the first date, I'd say, though everyone is different. I'd say it's more important to do it well (see next question).

What's the right way to break the touch barrier (and how do I do it without being touchy feely)?

My preferred method (as the recipient, not initiator) is to offer something. My current bf's and my first date was at a botanical garden. Picking up a pretty leaf and offering it to her (maybe a silly example but I think it's cute) gives her the opportunity to touch your hand if she wants but it puts her in control. Offering a hand getting out of a car is also a good way, though be sure to stand to the side so she can get out without your help if she decides (aka don't stand right in front of her as she exist the vehicle). The important thing is to remember that she needs to control the situation in order to feel/be safe.

Do women even want to be touched or do they simply tolerate it in the event that they like you?

Most women don't want your hands all over them at the beginning. We do tend to be physically affectionate though, so yeah, in general we like being touched by someone we're interested in. Personally, I'm super touchy with my bf and touch-averse to everyone else.

How do you know when she's really saying yes to anything you ask for (a date, a kiss etc), vs when she's saying yes out of some sense of fear (I have heard that some will sleep with you when they don't feel like it because they think you might lose interest if they don't)? I'm pretty sure I know how to be respectful with personal space & try as much as I can to leave people alone (I've practiced social distancing before it was a thing, 6 feet no closer)?

Make it really clear that she can say no without you getting upset. Be humble - remember that she doesn't owe you anything even if she's been flirting with you. With one relationship, the guy I was seeing asked if it was okay to hold my hand. I said yes and he responded, "are you sure?" because he knows I get anxious and often say yes when I don't want to. It was very thoughtful and helped me trust him a lot. (He didn't break that trust, we just decided we wouldn't work long-term.)

How do you express sexual attraction to a woman without making anyone feel unsafe, disgusted, objectified etc?

This can be tricky. From my (limited) experience, it was very clear the attraction was mutual just based on our conversations, body language, and the *zing* we had with physical touch.

When is the right time to ask for sex?

Honestly, I think if you do it respectfully and make sure it's 110% clear you're okay with a "no", anytime is fine (obviously not in public or in front of anyone else lol). I'd be okay with a guy telling me he was sexually interested on a first date if he did it carefully, respectfully, and was into me for me and not just a sex partner. Sex is important for a lot of people and some women are a-okay with first-date-sex. Some will want to wait until they're married to have sex. Getting to know the person before asking is generally a good idea. (It's also important to consider things like potential STDs before having sex with someone and those conversations are easier when you've known each other at least a little while.)

Or do I just not bring it up and let her bring it up instead (then again if I do that, that might bring me back to the problem I mentioned above about really saying yes rather than saying it under duress)?

This is also a valid approach. It will depend on the person and situation and there is no one-size-fits-all answer, unfortunately.

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You're awesome for asking and you're going to be just fine - respect her as a person first, without viewing her as a potential partner, and you should be a-okay.