As with a lot of things, context is everything. If you are doing these things out of the blue, jumping past any boundaries that were set, and so on - people aren't going to give you a positive enthusiastic response. Be okay with hearing the word no, or being told your advance isn't wanted or isn't welcomed.
Also, don't assume that everyone ever is going to report everything ever as sexual assault. If you go into it with that idea that it is going to backfire so badly that that might be a potential response to your actions...maybe you should reconsider the actions, no?
I get there is always that element of risk when you're with someone new or someone you don't know how to read, or in a situation that's not familiar. I know there is always that risk that you think things are going well and they're really not.
Check in. Ask your date/potential date/flirtation target how they feel about things. Ask them if they're okay with a thing. Give them options and ways out and if they choose to make an exit/turn you down/tell you something's not appropriate, stop whatever it is. Respect their choices, even if you don't like them (because yeah, rejection sucks, unfortunately).
Basically, don't go into it second guessing yourself and effectively also demonizing people - don't treat it as a battle you have to arm yourself for or protect yourself from - that's a surefire way for terribleness to happen.
This tweet thread has some good advice on basically, treating it like you're having guests over to your house for a party. Be on your best behaviour, check if people need anything, make sure people know where the bathroom is, etc. (The whole thread is very much worth reading).