I can relate to what you are talking about having a moral expectation and how it has affected my sexual interaction with the world. I was late to lose my virginity, struggled with not objectifying women to the point where I was afraid to associate with women because I was afraid my finding the attractive or appealing would be obvious and they would feel offended. I still to this day have a hard time having a friendship with the opposite sex. That put me behind the curve when it comes to interaction with woman and by virtue I feel like I missed out on a healthy learning of physical intimacy and that increases my curiosity. Though your moral "compass" may have operated a bit differently I can relate to how my religious and/or moral values have stunted my intimacy and physical/sexual experience.
I think it is okay to be where you are. Many people confuse emotional intimacy with physical intimacy and will substitute one for the other. Being careful about who you are intimate with on any deep level is good even if it can leave us a bit lonely.