First off, realize that dancers must remain clothed while giving lap dances in SD, so the best you'll get here is a bikini dance. Some dancers will occasionally flash you, but it's not a guarantee. Legally, the dancers aren't supposed to touch you at all in SD, but you can generally get a decent grind at most clubs as long as you're not in there on Friday or Saturday night.
There's only two clubs in town that serve alcohol (Pacer's and the Kearney Mesa Pure Platinum), so your choices for drinking are limited at best. As bad as SD is for mileage in general, it's even worse at clubs with booze.
mjx01 basically has it. If you really want decent mileage, you'll leave town. Cheetahs has been the best for me, and has some very attractive women working there. Most will allow some roaming hands if you go for the $100/5 songs room, but it really depends on the girl. Body Shop dancers typically have a sliding scale: $20/song for an air dance, $40/song for two way, but still with a bikini. At the Body Shop, you're kind of taking your chances on there actually being an attractive person working there.