i wouldnt overburden intimacy with so many variables.

i think stimulation is what humans need
intellectual stimulation — physical stimulation

intimacy is conceptual / intellectual and physical / sensual.
i dont think its a need though. the need is to be in sync with reality, and validation is the means to reach it.

intimacy is the easiest safest tool to indirectly get validation from others > on your value system on your worth