How do dates usually develop into a hookup?

I’m (M21) horrible with social cues and dont understand how dates usually turn into hookups and am wondering how that happens

Like I understand if you’re on a date you probably down to begin with but I’ll hear stories of how they hooked up after the first date or sometimes didn’t till 4 or 5 dates

What happens, like do you just ask the person if they wanna hookup or how are you spared to know if they want to?