It is quite possible to explore polyamory without having a primary partner. One of hallmarks of being poly is having the option to enjoy connections with people that aren't necessarily domestic partnership material, or just having a higher level of independence than traditional relationship structures tend to support.
It sounds like the trick for you is more in the nature of allowing your friendships to move in a direction that supports more of your needs, including your sexual needs. Why do you pull back from sharing all levels of intimacy within your connections, as long as it's consensual, honest, and responsible?
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