Oh, I was disappointed severely. But got over it :d
Don't need to. But each relationship has to have a level of intimacy. But the most important part is the mental connection, however the mental connection alone is also not enough. Just like love alone is not enough to maintain a relationship.
A relationship consists of a big mix in no particular order: 1) Love; 2) Mutual attraction, both, physical and mental; 3) Similar life goals; 4) Compatible mindsets; 5) Intimacy (so this includes anything to do with physical contact really).
I'm sure I missed some things as I have little to no experience in the field