I beg to differ, i did have intimacy issues when i was younger but now i am in a relationship, and i would like to think i am a very romantic person, i love cuddling, whether it leads to something or not. It literally comes down to being able to accept someone as another human being, they aren't going to judge you any more than you judge them. You have to find someone you care about of course, i dont recommend just going around having one night stands and trying to open up to every girl you come across, they would just think you are some freak. (which you would be)
I am just speaking out of experience of course.
Im not afraid to be a little personal so here are some examples.
-The first girl i ever had sex with, i spent about an hour before it happened, telling her that i didnt love her, didnt want to be in a relationship, and honestly wasnt sure if i even wanted to do it. After we finished she asked me if i regretted what i had just done, and without delay i told her yes.
-The girl i am with now, i could sit and cuddle her all day. I make kissie noises on the phone with her, use smiley faces all day when i talk to her in texts, cuddle her and kiss her in public, hold hands, no shame at all.
Anyway my point is, you will never enjoy intimacy if you never give it a serious chance. Once i found someone who made me happy and i was comfortable with, i honestly cant think of anything that makes me happier than just laying in bed and cuddling her.