I don't avoid dancing in the club and in fact I find it easier to dance when I'm drunk, I love it when a girl gets my hand and drags me to the dance floor.
I find being drunk not a problem but maybe it's because i'm more northern and grew up in a very small town with 2 breweries
Try to get her back to yours when it feels right or when you want to go, your just an awesome guy asking her.
It all depends on the situation there is no magic formula which is what a lot of men want from this a definite answer. I think this is due to the way the male mind works because it likes solving problems but humans are all different so there are women who will go straight away and some that won't leave till the end of the night.
Don't get in your head about it just ask when you think it's a good time it won't always work but you'll get better with the more times you do it. I tend to ask near the end of the night but that's because I've gone out to have fun and I don't want to go in straight away.
With texting I tend to make it something random but memorable about the night, for example if i've given her a stupid name i'll call her it or mention my army of genetically engineered monkeys if I've talked about that. That's just me I talk about random stuff.