Ready to grasp intimacy from another perspective (2,3,5,4)
I believe the answer is:
on the other hand
'from another perspective' is the definition.
(considered from another perspective)
'ready to grasp intimacy' is the wordplay.
'ready' becomes 'on hand' (someone on hand is ready to help).
'to grasp' indicates putting letters inside.
'intimacy' becomes 'the other' (the other can informally mean sex).
'onhand' placed around 'theother' is 'ON THE OTHER HAND'.
(Other definitions for on the other hand that I've seen before include "Where the groom should have placed the ring" , "though" , "Alternatively" , "Where relocated ring might be" , "where does second glove go?" .)