I'm not an expert on sexual harassment laws/rules... I'm a little concerned that you're associating asking someone out with it, but perhaps I'm naive and there are far more lawsuits going on than I know about.
If you are on a show that has an end date, maybe you can wait until wrap. If you're on a long-running episodic, trust your instincts. It's about intention. As long as you ask politely and can accept the possibility of "no" as an answer, you'll probably be okay. BUT I'M NOT A LAWYER.
Nor am I a dating coach. You're asking someone whose only dates are with Mac, and yes, I'm referring to my laptop. If only he cooked, he'd be perfect.
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