Should I ask him out?

Hi! I (26) met this guy (26) at a party, I think we kinda had instant connection, I saw him right away when entering the party and so did he. I was dancing with my friends and he approached me and took me to dance. We had a nice chat, and then he wanted to kiss me. I’ve never had something casual at a party. So at first I told him no, but he was so cute that I ended up accepting. We kept dancing for the entire night (3:30am) when I had to leave he was begging me to stay a little bit longer, he also offered to take me home (I was driving my car) so I declined his offer. He walked me and my friends to the car. HE DIDN’T ASKED FOR MY NUMBER!!! But he asked for another kiss, instead I kissed him on the cheek. After a couple of days I reached out to him on WhatsApp, but the conversation wasn’t very fluid since he does a lot of things on the daily, he even sent photos doing stuff. After that it was the weekend so I assumed he was free WELL he wasn’t, he had work and other things, so I got bored and quit the conversation. Now I want to ask him out since he’s not good at texting lol. So, do I ask him out ? 😩 I’ve never done something like that before