The main satisfaction of touch is caressing, which does not necessarily "go straight to the point" and stimulate the sensitive areas. It can be gentler caresses, such as helping the other person scrub their back during a shower or giving a light massage on their tired shoulders.
As for the sense of smell, it takes advantage of the aphrodisiac effect of fragrances or body odors. You can sleep in just your "Chanel No. 5" like Marilyn Monroe, or deliberately highlight your own slightly sweaty body odor, letting your unique scent envelop your partner.
Visual satisfaction includes watching a favorite movie together, preferably with some "adult-only" scenes; or wearing a sexy piece of lingerie that perfectly highlights your curves.
Auditory is the most important among these four needs, which refers to verbal teasing. Whispering sweet nothings in bed, complimenting each other's muscular or slim figure, or telling a couple of dirty jokes can effectively stimulate physical reactions and more quickly bring your partner to sexual climax.
In summary, the buildup of foreplay does not necessarily have to be expressed through passionate actions. As long as you grasp the degree well and use language to touch your partner, it will add a different flavor to your intimacy.