Sounds like you HAD this thought in your mind and when the right opportunity presented itself you took it, am I right?
If I recall correctly, you and H were doing a LOT of flirting before you got to this point where you sensed the opportunity to do this. My sense is that GIMA would have a stronger chance at success if he could move into flirty territory (more affectionate physical contact) before broaching the "where are we going" convo?
GIMA, will there dancing at this restaurant? This would be a very good opportunity for some physical contact that would allow you to gauge her reaction. If she is tense, you probably know your answer. If she relaxes and enjoys herself dancing, that would seem to be a very good sign.