Do we need romance and intimacy to have fulfilling lives?

Being single and not really interested in getting with a man again got me thinking...

I have good female friends (and couples) that I can be intimate with, but there's no 'romance' as such that would be something adult humans are 'trained' to expect in relationships. Basically a lot of FWB connections mostly.

So do we actually need romance + intimacy in order to have fulfilling adult lives?

If we're supposed to be intrinsically sexual beings why does it seem there are so many 'life filters' involved that is like applying the swiss cheese model in reverse?