How do you physically escalate with a person who you know for a long time?

People often talk about how you only have a short window to make her look at you with proper physical attraction and you should do it as early as possible.

But, things happen. What if the girl is someone you know for like a year and already have met a bunch of times as friends/acquaintances. Is this situation salvageable?

I know, asking out on a date is the easiest solution, but I feel like without having some physical attraction, it's quite futile.