No, there's not a way, unless someone responds to your post on this forum. On our first RS tour 10 years ago, we received names and city of where folks lived (a few weeks before the tour started.) RS probably figured out that was a break in privacy. Now you receive first names only and I think the state they live in.
Even on the tour, there is no way the tour guide will facilitate the exchange of information, but usually someone in the group starts an optional sign up sheet towards the end of the tour, where people can write their contact information on, if interested.
I really enjoy the RS tours; taking my 4th this year. I'm also friendly and social. But, I wouldn't feel any need to be in touch with tour members before the tour. Like us, we've found many tour members are taking the tour as part of a longer independent travel plan so people aren't all just arriving from home to start the tour. The orientation meeting is designed to get to know the people in the group better. That's your time to say, "hey, we really enjoy hanging out with others and if you'd like to join us at ... let us know!" That type of thing. It's like summer camp, you bond easily and quickly. Yet there's room for people to be all in when the group is together, but independent when you're not. Something for everyone!
Anyway, just my perspective and experience! Have a great time. We've enjoyed every group we've been a part of...