"We handle a lot of the need for physical contact between ourselves, since our humans don't touch each other as much after adolescence, outside of romantic situations or certain exceptions like handshakes. Both social preening of various types and also play-fighting - a common way that we become closer friends is by challenging each other to friendly sparring. I don't think any of that is necessary for friendship or trust, but it might slow it down a bit to not have it. Compensating by walking up and hugging humans would do more harm than good, and obviously touching daemons is out of the question.
"Some is adding extra details that would be awkward to bring up, or only adjacent to a conversation. Hmm. If you had a daemon, I would probably have been bringing up with them that we've had personal issues with paparazzi in the past, even though my Verity has been trying to focus only on the issues that affect everyone. In general, we tend to do more emotional expression - either speaking from emotional places, speaking of emotion, or outwardly expressing our feelings in body language - than our humans do. Saying things that would be unsaid otherwise, or adding reasons for things.
"For compensating... making sure your emotions are clear and expressed. Perhaps having citation holograms for daemons to read, which easily expand into details on publicly-accessible facts related to the conversation could be made. I don't know if they'd help, or how well they'd match what we're used to talking about, but it might work as a kind of emulation and keep the entire person focused in a way we're used to."