To me a relationship does NOT have to include sex of any sort. It needs to include some sort of connection. Whether that connection is intimate, mental, emotional, sexual or any combination of those doesn't really matter. It must have at least one of those connections.
I have had connections in all of the above and thoroughly enjoyed each and every relationship for what it offered.
Most of my relationships are either not sexual at all or rarely include sex so for me relationships tend toward the intimate rather than the sexual aspect.
I have long thought that the whole of humankind is really polyamorous. We have friends outside our main relationships which fulfill us totally different ways from each other and our main relationships.
There are as many ways to do polyamory as there are people practicing it!