For me, it's clear that the verb is Quedar, and the usual sentence is
¿Quieres quedar para ... ?
Liek for example, Do you want to have a tea together? You'd say
¿Quieres quedar a tomar un té?
¿Quieres que quedemos para tomar un té?
Or just with quedar:
¿Quedamos para tomar un té?
The imperative "quedemos" sounds kind of "too formal", it's better to say it as above, as as suggestion.
This one works out with friends and with relationships, so it's very widely used, at least in Spain, where I live. Any friend must frequently ask you one of those sentences.
It is also what you say after being introduced to a girl (or boy) you love. When you've already talked for a while. You'd use those sentences to invite her (or him) to have some drinks, or to go somewhere, or whatever.
In sum, it's definitely the one you're looking for.