Is there any classical music written specifically for dances? I think
I don't [know] any.
You have essentially answered your question - albeit, by excluding much of the classical music that was composed specifically for the purposes of dancing to it... Also, there are quite a few misconceptions in your question.
For starters, you seem to have a misunderstanding of the meaning of "Dance Forms." These are compositions that are made for a specific type or style (or "form") of dance... The word form in this case refers to a dance and not a 'musical form,' such as Strophic form or Binary form; of which a 'dance form' may or may not be composed. Composers MOST DEFINITELY intended for people to dance to these compositions. And, patrons would commission composers for the explicit purpose of writing dance music for their courts.
ballets - it's dance alright, but not for the audience to dance.
While this may be arguable in our modern age, ballet was very much intended for audience participation during the classical period. From this article:
The origins of ballet dancing can be traced to the Italian Renaissance
courts of the 15th century. Dance masters would teach the steps to
nobility and the court would participate in performances as a form of
social entertainment. This practice continued for several centuries.
Finally, what you consider as "dance-y" is a subjective perspective likely due to circumstances of our modern society. Just as music that is 'popular' has changed since the 15th century, it is simply natural for preferences to change over time about music with which to dance, as well... For example, much jazz was originally created for the purpose of dancing to it. But, I would agree with someone that argued that a lot of that music doesn't feel or sound "dance-y" at all - even though the "Jazz Age" is barely 100 years old and much of that music is made with a drum-kit/trap-kit which is (arguably) THE instrument needed for making modern dance music.