> moving my legs using her upper body, it felt quite intimate and I admired her for being so professional

This highlights something that I've been chewing on a lot lately. I'm not sure what you specifically meant by the word "intimate" when you said that, but I do think it's really interesting to distinguish between "intimate" and "sexual", even though they often coincide.

As an example, years ago I was staying with some out-of-town friends after a break-up and they wanted to introduce me to a couple of lovely single women they knew. I hadn't really been taking great care of myself in the fallout of the breakup, so I went and shaved and got cleaned up. While doing my hair, I realized that my eyebrows were pretty unruly and somewhat sheepishly asked my friend's wife if she'd be comfortable taking some tweezers to them and helping me get them cleaned up. It wasn't, even a little bit, a sexual moment but it ended up being incredibly and unexpectedly intimate. We were both pretty surprised by it and ended up getting closer (as friends) afterwards.