This is not a precise definition but even without being specific, it seems that intimacy and healthy relationships go hand in hand. Indeed, intimacy is a basic ingredient in any meaningful relationship: the basis of friendship and one of the foundations of love.
The main forms of intimacy are emotional intimacy and physical intimacy. Intellectual intimacy, familiarity with a person's culture and interests, is common among friends. Members of religious or philosophic groups may also perceive a "spiritual intimacy" in their commonality.
Intimacy can also be identified as knowing someone in depth, knowing many different aspects of a person or knowing how they would respond in different situations, because of the many experiences you've had with them.
Reference: Intimate Behavior, by Desmond Morris.
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"Intimacy".
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