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I think you are way over thinking this stuff. since you had already told her about your foot thing and she said it would be OK to massage her feet you should have just done it the first time you got together after that. She was probably waiting for you to do it but you didn't make a move. better do it next time or she will sense you have a lack of self confidence and you may never get a hold of her tootsies.
My girlfriend Sammie I got to massage her feet on our first date while in a movie theater. then back at her place a few hours later footjob, trampling and sex. Let her know what you are into up front and things usually will work out fine.