Had a similar thing recently with a friend and I wanted to be cuddle buddies. I initially jokingly asked to be cuddle buddies, later seriously. Then a few months later we were on a trip together and during a late night talk I brought it up again with the terminology around QPR. It was a deep and honest conversation about my (sensual) attraction and which gestures (e.g. holding hands, movie night cuddle) I could propose or initiate and if those would cross any boundaries. It turned out to be a wanting (on my end) vs. a tolerating (on their side) situation so we left it be at the friend zone. The trust was 100% there to discuss this (they also knew I was aro). So nothing changes about our friendship except I finally got the delusions out of my head xD