I think this really depends on the person. There are lot of people who have deep and satisfying relationships with limited intimacy. For other people it's very difficult.

Check out the subreddit https://www.reddit.com/r/DeadBedrooms/.

You'll see a lot of people on both sides of the equation. People who aren't really attracted to their mate but happy in the relationship, and mostly people who are deeply unhappy because their mate doesn't have romantic/sexual feelings for them.