People think intimacy is about sex. But intimacy is about truth, acceptance, and safety. When you can freely share your thoughts and feelings without fear of being judged or ridiculed, and show them who you really are and their response is "You're safe with me" - that's intimacy.
Sometimes I accidentally accept the bare minimum trying to be mindful of what others have going on and that is a flaw that I need to let go expeditiously.