Intimate relationships don't have to be sexual, or even include affection, but it sure helps. A deep friendship that touches on matters of yearning and lust counts as intimate. One founded on on respect and honour, well... is a very good thing, but is not intimate.
You need your relationships to allow for intimacy to develop with others, if you are to stay young. The poly people (the wiser of them) have got this right in allowing sex and intimacy. Other kinds of intimacy are possible; you need to be able to be open to some.