You can't really do anything but confirm your desire to each other. In my mind, it was a great set up to allow slow relationship progression. Everyone else was throwing themselves at my Tav, but Karlach couldn't. She did come to me one night at the camp and told me that she wanted to "make me see stars" or something like that. hahahaha! But that's all that could be done.
I also found her story to be tragic and wanted to be "the one" to be able to hold her after so many years of having to distance herself due to the fire.
So the romance is emotional, verbal. Anything physical has to wait. ..and I thought the having to wait was a nice dynamic.
At least that's how things played out for me.
I didn't get that scene for some reason.