I am not a expert in this but it totally depends on your comfort level and if you ain't comfortable then communicate it to him well in advance
Hey! Thanks for reaching out. Intimacy is something which totally depends on how well you connect with the person.
If you are so close to the person and you guys want this to happen then there is no problem.
But if you’re not sure about the relationship or you have any insecurity about the relationship. It’s better that you guys first talk about it. Clear your doubts, be comfortable in each other’s company. Then move ahead.
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If you want to try things out casually den go for it bt if these things mean to you on deep emotional level den I guess you need to think over and see if he is the correct one