Soul-mantic

Soul-mantic means to act with another person (Usually a best friend/someone close) in the way a couple would without it being romantic, such as physical intimacy (ex: kissing, going on dates, nudity if agreed upon, & etc)
BUT, is not sexual in any way, making it different from friends with benefits.
However, while this sounds like a QPR both parties agree that they don't feel as partners.

Soul-mantic sounds like an offshoot of soul mates and it is, although the connotation of soul mates is a romantic relationship which soul-manticey is not

Me and my friend often take showers together, the act is soul-mantic, not romantic or sexual.