I've never heard of anyone directly asking a girl if they can hug/kiss her or if she likes him....well not after elementary school.
What else were you suggesting?
How many of these initial romantic interactions have you actually been a part of as an outsider? Because "Hey, I really enjoy my time with you, wanna go on a date?" isn't some outlandish thing to say to a woman.
And of course if things progress to a romantic level there's not necessarily a need to get a verbal confirmation if the body language and other visual ques make it clear both are agreeing to the situation.
This isn't about normal dating stuff, this is about the contexts where touching and sexual commentary are inappropriate. You don't just go around "stealing kisses", rubbing the inner thighs of co-workers and making comments like "I wanna fuck you all day long" with the excuse of "it's just flirting". That's sexual harassment.
Also, yes, people need to communicate with words more. A lot of unfortunate situations could have been prevented with more open communication. Asking permission to do something isn't nearly as juvenile as you make it seem. If anything your attitude is far more childish.