Don't make me wait 5 minutes for a table during non-peak hours. If I'm waiting for a table because no one is even there to seat me, I'm in a bad mood already.
Also, my wife and I both HATE it when we're clearly done with the meal, and the wait staff has either not taken our plates (which are nearly empty and pushed enough to the side to notice), and brought out the check promptly. If they've already cleared the table and not gotten the check, doubly so, since the waiter was likely the one that cleared it. Let me pay. In fact, the longer you wait, the less tip I'm inclined to give you, so let me pay YOU along with my bill quickly.
Agreed on the touching, I don't like it.
One thing that I'd recommend is to get into a conversation. It can be about the food, something we're wearing (like a funny shirt), whatever. Get me involved in the process of eating out, it's much more enjoyable for me, and probably for a bored waiter or waitress too.
Being a regular customer has its perks. You develop a rapport. If they run the place right, they'll treat you with extra stuff they know you like, and you tip better. For instance, my father goes out once a week to a pizza place with a buffet (it's a Pizza-Hut) with one of his co-workers. They tip them well, and they frequently can get whatever they want. Instead of getting the plain regular pizza, they'll custom cook one. They took some other co-workers out once who were astonished at the kind of service they got. Be a good customer, get good service.