I recommend watching your birds to see what they like and respond well to.
With our RIR pullets, we handled them from day 1, but when they became pullets, the girls became more independent to a bit standoffish, to "trilling" and resisting when they didn't want to be picked up.
Like you, I wanted to have them become more receptive again to petting, so I started to watch them closely and notice what they seemed to like or respond to. I also watched the responses of our next set of tiny baby chicks (to be eventually integrated into our current flock). Found that the pullets are best receptive when "lovin'" time seems to be their "idea" (and when it's not centered around eating/food time).
They will follow us around the yard (no food) and fly up on us, or just jump up, but, if one or two start to nibble my toes (they like to peck my toes through my garden crocs) or, if at any time nearby them that seems like a relaxing time, the girls halt. After the halt, I will place my hand gently under their crop and lightly message their little golf ball, they nearly always seem to become very calm and relax, then squat on my hand/ ground, etc. It's then that I believe they seem most receptive.
If I see them just relax, I can almost always move them slowly to my lap if they haven't already jump/flew there when I sit. Sometimes they want to perch on an arm/ hand/ shoulder. I speak softly and stroke them gently between the wing blades and very gently on the side ear muffs. If I see them close their eyes in a relaxed manner, they will often sleep there for awhile for petting. Sometimes they relax so much they spread out and slip off my lap. lol
Sometimes I have 5-6 birds on my lap and a few on my feet, since one chick does something, the others want to do it too. Much of the time they don't want to leave if I have to get up, but I make sure they are calm when I put them down, so this relaxation time together seems to work most of the time.
Here's my experiment with the baby chicks at 3 days old.
https://www.backyardchickens.com/t/794971/how-to-have-baby-chick-be-happy-to-hop-into-your-hand
They are two weeks old now, and about 25 of them are regular handling "customers." I handle the more reticent chicks too, but some just are more flighty/ introverted, and will take more patience to have them become comfortable over time. (Or not- some birds just don't take to handling.) I think they just are easier to deal with when they feel really comfortable. Just my two cents. Hopefully this helps.